Questions tagged [localization]

Localization is the problem of estimating a robot's pose relative to a map of its environment.

Filter by
Sorted by
Tagged with
0
votes
1answer
17 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?
3
votes
3answers
61 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 ...
3
votes
1answer
110 views

SEIF ,online version of Graph slam create doubt in Motion Update state

I have a thesis work about Graph Slam The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures I try to implement it with the help of this paper but during the ...
0
votes
1answer
52 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 ...
1
vote
3answers
231 views

Grid based SLAM using BeagleBone Green Wireless and RPLIDAR

I've written a grid based DFS algorithm with a PID-based steering system to maneuver a 30cm2 square-grid maze all in Python. The robot is a 4 wheel drive with an approximate size of 20 cm. The ...
1
vote
2answers
440 views

Bayesian filter for 2-D grid localizaton

I have some data obtained from an experiment in terms of movements and observations with odometry and sensor data. My task is to find the probability mass on each of the grid cells after each set of ...
0
votes
0answers
6 views

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
vote
1answer
89 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. ...
1
vote
1answer
74 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?
2
votes
1answer
37 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 ...
0
votes
0answers
21 views

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 ...
0
votes
1answer
36 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 ...
0
votes
0answers
25 views

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 ...
0
votes
1answer
46 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
votes
1answer
40 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 ...
0
votes
2answers
57 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 ...
0
votes
1answer
40 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 ...
2
votes
1answer
44 views

EKF SLAM : Missing older landmarks in new observation

I am a beginner to SLAM and robotics in general and I have been trying to implement SLAM on my GoPiGo3 robot car kit using primarily Chapter 10 from Probabilistic Robotics by Sebastian Thrun as ...
0
votes
0answers
21 views

Robot localization including the orientation of the boundary

Consider a SLAM system for a mobile robot that is able not only to predict the position wrt the map boundary but also to measure the orientation of the boundary once it is reached. If the measured ...
0
votes
0answers
14 views

Integrating Arduino Cloud Platform into ROS

I have an existing ROS framework used for an autonomous driving vehicle. I am working on tests to understand how localization is affected by light. My existing hardware does not have a lux measurement ...
0
votes
0answers
18 views

What is the difference between SLAM and cooperative localization?

I need to ask this simple question for my own understanding. I am new to the field and want to differentiate between the two.
3
votes
2answers
62 views

bluetooth that could track mobile phone location

newbie here. after my research, i couldnt find anything that could found what i wanted to search for my project(following robot for indoor location). without gps, bluetooth only, could i get the exact ...
0
votes
1answer
29 views

Alternate perspective other than probabilistic perspective to implement slam

I am bother on some line which is written is Probabilistic Robotics book by Dr.Sebestian Thrun From a probabilistic perspective, there are two main forms of the SLAM problem,which are both of equal ...
2
votes
2answers
34 views

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/...
4
votes
3answers
4k views

Determining position from a 2D map and LIDAR

We need to determine the 2D position of my robot. To do so, we have a LIDAR at a known high, with an horizontal plane, which gives us the distance to the nearest point for each angular degree (so 360 ...
2
votes
2answers
18 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 ...
0
votes
0answers
23 views

Differences between strapdown inertial navigation and motion models

In a state estimation scheme with a simple IMU/GNSS setup using EKF, I have always thought the prediction step would be done using a motion model and all sensor measurements would be incorporated via ...
-1
votes
1answer
40 views

Can drone fly in predefined fixed trajectory without GPS

Is it possible to make a drone to fly in fixed altitude and move in fixed trajectory without GPS. (Drone has to move in fixed path which is already defined). I am saying without GPS because drone has ...
0
votes
0answers
39 views

How do I set the weights of an Unscented Kalman Filter?

In most of the papers I have read, calculation of weights is done by the following formula: Where L is the dimensionality of my state and lambda is calculated by: And the usual values for alpha, ...
0
votes
0answers
76 views

Information Gain Theory - Conditional Entropy

In the book "Probabilistic Robotics" in chapter 17.2.1 they describe the theoretical concept of information gain regarding to robotic exploration. I'll provide you with an excerpt: In context of ...
2
votes
4answers
2k views

Which is a good and cheap 3D LIDAR or other options? [closed]

Our team is planning to go for European Rover Challenge (ERC) 2018 for which we are designing an Autonomous rover. In order to implement SLAM, we need a way of mapping (with a range of atleast 2-4 ...
0
votes
0answers
40 views

How can I perform localisation without using LIDAR?

I want to make a self driving (autonomous) wheelchair where I want to create a map for localisation of the wheelchair. I do not want to use LIDAR as it is very expensive. Also, I do not mind if the ...
1
vote
0answers
41 views

Sensorfusion of odometry, accelerometer and gyroscope using Indirect Kalman Filter

I'm trying to implement an indirect Kalman for pose estimation of a wheeled robot. I found two papers that describe this approach. CMU. Journal (2006) Vol. 5(1) IFAC Conference on Embedded Systems ...
3
votes
3answers
1k views

What is the most appropriate SLAM algorithm for quadrotors with RGB-D camera?

I have been researching on SLAM. I came across EKF SLAM which uses odometry to measure the robot's initial position in the map and as well as landmarks which helps the robot's position to be more ...
0
votes
0answers
24 views

Max angle of beam against surface (ultrasonic sensor)

I am trying to localize a robot within a rectangular room (182cm x 243cm) with completely black walls (so IR sensors and LIDAR are out of the question). I am trying to figure out if I can position ...
3
votes
1answer
102 views

Likelihood Field Matching

I have LIDAR data of an environment in my hand and I want to apply likelihood field matching to this data. I found a source. But I don't understand what the variables of the algorithm mean and how it ...
3
votes
5answers
537 views

Using vision for Monte-Carlo localization

From each step of my vision code I am able to get around 400 coordinates of where the robot thinks the walls are I want to integrate this into Monte-Carlo observation step. I'm storing the map of ...
1
vote
1answer
81 views

Fusing absolute robot localization from markers

I have a system which is composed of a rig of 8 cameras which are used for detecting markers in the environment and which outputs 8 estimates of the absolute robot's position and orientation. Now, I ...
-1
votes
1answer
24 views

Localization in box using rangefinders

Let's say I have a robot, located in a box. The robot can move in the x and y and rotate. The robot has 4 rangefinders, mounted 90 degrees apart, that measure the distance to the walls of the box (I ...
1
vote
0answers
16 views

Problem with UKF weights when calculating predicted state

I'm having troubles implementing a UKF during the calculation of $\overline{\mu_t}$, specifically in this step: $$\overline{\mu_t} = \sum_{i=0}^{2n}w_m^{[i]}\chi_t^{*[i]}$$ My problem I'm facing is ...
0
votes
2answers
81 views

outdoor autonomous robot [closed]

i had search over google and found out more or less some sensor that i could use like sonar, gyroscope, accelerometer,magnetometer and gps and 2d lidar (which is less expensive, around $300) i have ...
1
vote
2answers
423 views

How does fast slam creates grid maps?

I've implemented fast slam using landmark detection and the map stored is a feature map, made of landmarks positions. I would like to create a grid map, and my questions are about how does the robot ...
0
votes
2answers
61 views

provide world map for ekf global localization problem

I am trying to implement the ekf_localization algorithm in page 217 (Table 7.3) of the probabilistic robotics book by Thrun. From my previous post, I understand that I need to extract observed ...
2
votes
1answer
65 views

why innovation equation in Extended Kalman filter is called innovation? [closed]

In the extended Kalman filter for SLAM, why the innovation equation is called innovation? Is there any reason behind it?
5
votes
1answer
3k views

Kalman filter GPS + IMU fusion get accurate velocity with low cost sensors

I'm new to all this robotics stuff. Especially to Kalman filter. My initial goal is to have velocity as accurate as possible Here is my case: I have a phone which is mounted, for example in the ...
3
votes
3answers
699 views

Iterative Closest Point for 2-D LIDAR Data

I have two 2-D point clouds obtained from LIDAR (Light Detection And Ranging) scans at two different poses (positions and orientations) inside a circular structure, where a small object (vertical ...
1
vote
1answer
53 views

Why information filter called information filter

We all know Information Filter is a dual representation of kalman filter. The main difference between information filter and kalman filter is the way the Gaussian belief is represented. In kalman ...
11
votes
1answer
3k views

Ambiguous definition of Error-State (Indirect) Kalman Filter

I am confused by what precisely the term "Indirect Kalman Filter" or "Error-State Kalman Filter" means. The most plausible definition I found is in Maybeck's book [1]: As the name indicates, in ...
2
votes
0answers
23 views

Fiducials in conjuction with AMCL

I'm having some trouble getting fiducials (using aruco_detect) to work alongside amcl. The goal here is to use normal amcl localization when a fiducial is not present, and to switch to localization ...
2
votes
1answer
144 views

Follow up question to Robot path planning

So I was browsing through the localization section and found this question and the code which answered it. https://robotics.stackexchange.com/a/7932/21145 but I have a follow-up question to this. So ...

1 2 3 4 5