Questions tagged [localization]
Localization is the problem of estimating a robot's pose relative to a map of its environment.
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What's the correct approach to merging of localization and odometry data?
We've got a mobile platform with a source of odometry and an IMU, which are merged in an EKF filter (robot_localization node), producing continuous odom->base_link transform. The robot is also ...
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33 views
How to use SLAM generated map to navigate my robot to the destination?
I am trying to understand various SLAM algorithms.
In my case, I need my robot to start from point A and reach point B with maximum accuracy as well as precision for all the cases.
Note that, as the ...
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Getting the new heading after a Transformation
Lets say I have 2d poses as such (angles in degrees):
world_to_robot = {0, 4, 45} robot_to_object = {4, -4, -45}
From a graph it would be easy to see that:
world_to_object = {4, 8, theta}, what goes ...
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What are the state-of-the-art variants of the basic ICP algorithm for point cloud registration?
The questions is quite straightforward. For the past few days I've been looking into point cloud registration. It looks like it all started with the basic ICP algorithm as described in P. J. Besl and ...
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32 views
Self localization inside machine of interest
I have a type of flight sensor interfaced with Arduino Uno via I2C. The sensor is VL53L0X i am getting the 1D measurement value of distance in mm which i can monitor using serial monitor in Arduino ...
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Likelihood field sensor model (Probabilistic Robotics, Thrun et al., p.169-174)
I am currently working on the "likelihood field" sensor model (aka "endpoint model") by Thrun et al. (book: Probabilistic Robotics, Thrun et al., p.169-174)
In this context I have ...
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1answer
23 views
2D point cloud registration success probability
I am trying to implement localisation by storing images from a camera and their accompanying point clouds from a 2D lidar during mapping. During localisation I then use image matching to suggest the ...
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1answer
42 views
LiDAR Feature Extraction
I'd like to extract "features" of an environment scanned with a 2D LiDAR.
I tried to create a temporary occupancy map to extract "corners" with the Harris Corner Detector. However ...
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Improvements over FastSLAM2.0
Are there some papers and/or works that describe improvements for the FastSLAM2.0 algorithm? I'm particularly interested in the following areas:
The map is completely unknown at the beginning of the ...
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1answer
30 views
How does a Tesla or any self-driving car self-drive to a remote place and align itself to an object?
I am trying to understand the technology/procedure related to one of the trivial functions of a modern self-driving cars.
Let us consider the example of Tesla's Model S (or any).
The car is parked at ...
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ECEF postion vs. LAT/LON/Height position with odometry
So I do have a wheeled robot and I want to fuse position data with odometry data.
Someone suggested using the position encoded in ECEF rather than using the LAT/LON/Height information I get from the ...
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40 views
Calculate the Vehicle corner points given localization
I am trying to calculate the corner points of the vehicle given the details below:
Localization data from rear axle of the vehicle
Length and Width of the vehicle
Heading of the vehicle ENU
Could ...
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1answer
30 views
What is the difference between Markov localization and hidden Markov localization?
I just started studying localization for robotics. I started with Markov localization.
There was a cool lecture on Udacity. I also came across another localization called hidden Markov localization, ...
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1answer
44 views
Estimate noise covariance matrix of measurements using a ros-bag
I am facing the following issue, and some hint or orientation would be great. I am working on a project in which I was given a ROS bag, and I have to implement a localization node using SLAM. To do so,...
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29 views
How does loop closure backpropagate the robots states into prior times?
I have read some about loop closure and I am somewhat confused.
Suppose we implement something like EKF slam using LIDAR and suppose loop closure is aided by computer vision based features so that if ...
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1answer
46 views
Bearing landmark localization
I am trying to initialize the position of a set of landmarks using only bearing observations. Each robot pose, described by position (x,y) and orientation (theta), observes a small set of landmarks. ...
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51 views
Kalman Filter for 2d pose
I'm really sorry if this is a dumb question, but I don't have a clue on how to do this. I'm trying to write a kalman filter with a State vector of :
{x,
y,
ẋ,
ẏ,
ẍ,
ÿ
}
To estimate the 2 dimensional ...
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1answer
40 views
Applying Rotation & Translation Matrix Obtained from Iterative Closest Point
Suppose I have M lidar contour points from t = k and N lidar contour points from t = k+1.
(Some of you might question why I have differing number of contour points, and the reason is that these lidar ...
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29 views
Angular movement of a controlled arm relative to an object via Two IMUs
I've been tasked to use two YEI 3-space sensors (IMUs) to detect the azimuth and elevation (altitude in the image below) angle of a moving arm with respect to a fixed object, with a sensor on the end ...
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30 views
How do you handle angle discontinuities in estimation problems?
When one is implementing a state estimator in a system that involves kinematics, will inevitably face the problem of angle discontinuities, i.e., the fact that the angles have to be wrapped between ...
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1answer
31 views
ICP(Iterative Closest Point) with Partially Overlapping Conditions & Changing Point Numbers
I am currently working on fixing vehicle odometry data using lidar contour points. Since I am receiving lidar data in the form of countour points, I thought I'd use ICP to correct the odometry error ...
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1answer
27 views
Vehicle Odometry Correction Using Lidar Contour Points (Localization)
I am currently working on a project where...
Vehicle travels from point A to B
GPS trajectory is used as a reference
Vehicle odometry (bicycle model without slip angle beta) was used to estimate a ...
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2answers
56 views
Compute path in absolute frame from sequence of measurements
I have a sequence of measurements $\{(x_i, y_i, \theta_i)\}_{i = 1 \:...\: N}$. Each of these represents the new pose of the robot seen from the previous pose, i.e. a measurement $(x', y', \theta')$ ...
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1answer
34 views
Motion model and homogeneous transformation issue on a drone
I am trying to develop a EKF-SLAM algorithm for a drone, and I want to estimate its position in the inertial/world reference frame. I have as control variables the linear and angular velocities in the ...
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Robot Localization - Motion and Sense Probability
I'm currently taking Udacity's AI for robotics course and came across a question that stumped me. The problem plays on localization probability given uncertainty in our measurement updates.
The first ...
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Bundle Adjustment for Monocular SLAM
I am confused with how monocular BA works in visual-based SLAM. Is there any tutorials I can do in openCV to provide me some visualization aid?
Thank You.
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1answer
66 views
EKF sensor fusion
What is the standard way to fuse multiple sensor measurements in an EKF framework?
Say you have Odometry, IMU and some form of Lidar which can produce landmarks.
EKF is normally presented as a ...
0
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1answer
41 views
EKF-SLAM what should the observation model be?
I am implementing an EKF algorithm for a drone localization, and while I was defining the observation model I got a bit confused.
This is my situation:
I have a drone which is able to give me the ...
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2answers
66 views
Which math books would help in learning SLAM systems? [closed]
Recently I started studying papers on SLAM systems by Durrant-Whyte for my research and I'm finding some difficulties in the math (matrices and probability) that is tackled in these papers.
Which ...
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1answer
58 views
Kalman filter with a known motion model
I have a robot whose pose $(x, y)$ is defined relative to the global frame. I have a sensor which estimates the robot's current pose in the global frame, and the sensor is known to have Gaussian error....
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3answers
118 views
Difference between SLAM and Localization
What are the differences between SLAM and Localization if you have a known map? How does the position probability update differ between the two?
In particular I'm curious on if localization is a ...
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1answer
34 views
How can i fusion gyroscope and accelerometer when accelerometer has only roll,pitch val?
I'm currently studying IMU Sensor with 6dof(gyro and accelerometer).
My goal is to get Orientation of robot, and i found out that only 6dof imu sensor wouldn't be
possible to get a correct Orientation ...
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Determining Orientation of a Robot Relative to a Line on Table
I am currently busy with a robot that needs to obtain it's orientation relative to a line seen by a camera. At the moment, I am using Hough lines to obtain a gradient for the line, but the gradient ...
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0answers
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Hint regarding Localization & Map Scaling
I just started with mobile robotics. I'm trying to do a collaborative system between a mobile robot and a ceiling camera (Raspberry). They should do all tasks as a "team". Means Calibration, ...
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1answer
32 views
Uncertainty in grid based fastslam
Given I am building a grid map, and poses are represented using particles, how can I calculate the uncertainty of a pose In a grid based fastslam 2.0?
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loop closing in grid based fastslam 2.0
I understand how grid based fastslam 2.0 works
I just would like to know how to implement a loop closure functionality in a grid-based fastslam 2.0?
Since at each state we only consider the last state ...
1
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1answer
99 views
How many landmark measurements to localize a planar robot?
How many landmark measurements are required to localize a robot (i.e. find its x,y position and orientation) moving in a 2D world using 1. only range measurements 2. range plus bearing measurements?
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1answer
60 views
Where to include velocity in a Kalman filter
I am trying to understand some of the basics of the Kalman filter. The problem I am working on is quite complex, but I have spent some time trying to simplify the problem with an example.
So, let's ...
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0answers
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Ceiling Camera & robot - SLAM still neded?
I've got a question regarding the topic of SLAM. My composition consists of a mobile robot and a top down looking 2D camera with wide-angle lens. It is comparable to a survaillance camera mounted on ...
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3answers
73 views
Is SLAM done only first time in a given environment
I am training Turtlebot 2 to move around the office. I come from robotics hardware background but relatively new to computer vision and robotic mapping.
Here are my two fundamental questions related ...
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2answers
73 views
Collaboration of mobile robot and survaillance camera - classic localization (still) needed?
Just started with the topic of mobile robotics..
so I'm still into concept making and little programming, but have not setup everything or tested at all. I got a (differential) mobile robot (lego ...
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0answers
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MAV drifting away from its takeoff position
I am working on MAV control in GPS denied environment using px4flow and Lidar sensor.While in simulation and during experiments on real vehicle, MAV doesnt stay at its position and drifts in random ...
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1answer
51 views
Localisation of Robot in a Rectangle
I am wondering how to go about localising a robot in a rectangle drawn on a smooth surface. Basically, there is a tape that lines the shape of the rectangle, and the color of this tape is unique in ...
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1answer
52 views
Robot localization in a known map without knowing its initial position in that map
Firstly I would like to say that I'm no expert in Bayesian Filters such as Kalman Filter and Particle Filter, but I've used the EKF before in a robot that has both wheel encoders and an IMU to ...
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2answers
66 views
Localize a Mobile Robot on a Mirror
I am currently busy with a project which requires me to construct a robot capable of cleaning a heliostat (movable mirror used to redirect sunlight). Heliostats are basically large flat mirrors that ...
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1answer
142 views
How to synchronise data for fusion in Kalman from multiple sensors with different timestamp information?
I'm using Kalman filter to track the position of a vehicle and receive position data from 2 sensors: A GPS sensor and an Ultrasonic sensor for which I want to implement sensor fusion into the Kalman. ...
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2answers
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Basic question about Markov Localization, probability and belief distribution shift
I am starting in robotics, and reading about Markov Localization, I have one doubt, probably very stupid, but, well, I want to solve it.
Let's take the CMU Website example: https://www.cs.cmu.edu/afs/...
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1answer
57 views
Effect of platform speed (how fast it is moving) on the quality of SLAM
I want to know how big of on an impact does the speed of the platform on which your sensors are mounted have on the quality of the outcome of a SLAM solution. Are there are any methods that are better ...
3
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1answer
46 views
building a grid map from gps trajectory poses
I am trying to create a feature grid map with
Images from camera mounted to the top of the car.
Novatel ProPak RTK gps poses
Beforehand, I've checked to ensure that the standard deviations of the ...
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2answers
29 views
How to calculate the mean of an unsymmetric distribution (Particle Filter)
I'm attempting to implement a variant of Monte Carlo localization in a 2D space with obstacles. While the object is moving around the obstacles the particles flow around the obstacle like in images ...
