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
23
votes
8answers
15k views

Absolute positioning without GPS

Using an IMU a robot can estimate its current position relative to its starting position, but this incurs error over time. GPS is especially useful for providing position information not biased by ...
25
votes
5answers
24k views

Particle filters: How to do resampling?

I understand the basic principle of a particle filter and tried to implement one. However, I got hung up on the resampling part. Theoretically speaking, it is quite simple: From the old (and ...
2
votes
1answer
377 views

Data association with ekf?

Given part of the following algorithm in page 217 probabilistic robotics, this algorithm for EKF localization with unknown correspondences 9. for all observed features $z^{i} = [r^{i} \ \phi^{2} \ ...
5
votes
2answers
7k views

Kalman Filter GPS + IMU

I know this probably has been asked a thousand times but I'm trying to integrate a GPS + Imu (which has a gyro, acc, and magnetometer) with an Extended kalman filter to get a better localization in my ...
8
votes
1answer
1k views

Multiple position estimates fusion

I have a system in which I have two separate subsystems for estimating robot positions. First subsystem is composed of 3 cameras which are used for detecting markers the robot is carrying and which ...
7
votes
4answers
989 views

How to localise a underwater robot?

I am building an autonomous underwater robot. It will be used in swimming pools. It should be capable of running in any normal sized pool, not just the pool in which I test. So I cannot rely on a ...
4
votes
2answers
2k views

Navigating through a Maze using path-planning (Dijkstra)

I'm working on an robot that would be able to navigate through a maze, avoid obstacles and identify some of the objects in it. I have a monochromatic bitmap of the maze, that is supposed to be used in ...
1
vote
1answer
369 views

ROS : Performing 2-D Pedestrian Dead Reckoning on an AR Drone and displaying location on a floorplan [closed]

I'm trying to find a way where I can estimate the location of my drone on a floorplan. Note that right now, I will just be moving the drone around manually and not flying it. I read up on PDR and ...
17
votes
3answers
3k views

Quadcopter Localization Beacon

I want to use an RF beacon to localize my quadcopter for autolanding, when GPS is not precise enough, for example, when my driveway is only 10 feet wide, and the GPS is only showing 20-30 ft. accuracy ...
14
votes
3answers
4k views

Extended Kalman Filter using odometry motion model

In the prediction step of EKF localization, linearization must be performed and (as mentioned in Probabilistic Robotics [THRUN,BURGARD,FOX] page 206) the Jacobian matrix when using velocity motion ...
19
votes
2answers
8k views

How To Determine Heading Without Compass

Lets say I drop a robot into a featureless environment and any magnetic field based sensors (magnetometer/compass) are not allowed. What methods are there of determining where north is? Tracking the ...
17
votes
3answers
4k views

What are good methods for tuning the process noise on Kalman filters?

Most often tuning the Kalman filter noise matrices is done by trial and error or domain knowledge. Are there more principled ways for tuning all the Kalman filter parameters?
9
votes
2answers
1k views

How to model unpredictable noise in Kalman Filter?

Background: I am implementing a simple Kalman Filter that estimates the heading direction of a robot. The robot is equipped with a compass and a gyroscope. My Understanding: I am thinking about ...
10
votes
3answers
2k views

With a 6-axis robot, given end-effector position and range of orientations, how to find optimal joint values

Given a six-axis articulated robot arm holding a tool at its end-effector, if I have a desired tool position and tool orientation, there will be exactly 1 solution to the inverse kinematics equation ...
9
votes
3answers
2k views

What algorithm can I use for constructing a map of an explored area using a number of ultrasound sensors?

Ultrasound sensors are incredibly cheap these days which makes them a popular choice for many hobbyist robotic applications, and I'd like to use a bunch of them (say 10) around a robot with an ...
9
votes
4answers
613 views

Localizing a swarm of robots

I have a 300cm x 300cm room with a 25cm high ceiling (yes twenty five centimeters). It contains 50 small wheeled robots (about 20cm x 20cm). A central computer will orchestrate the movements of the ...
4
votes
1answer
676 views

Are there off the shelf solutions for GPS+INS (accelerometer,gyro,magneto) sensor fusion for getting filtered/fused location and speed output?

I am working on a project that needs tracking location and speed of pedestrians/runners/athletes (so not really robotics, but I see a lot of related usage and posts in the robotics domain, and an ...
2
votes
3answers
394 views

Localising a robot placed at an unknown position in a known environment

I am a third-year electrical engineering student and am working on an intelligent autonomous robot in my summer vacations. The robot I am trying to make is supposed to be used in rescue operations. ...
2
votes
1answer
484 views

How to make a directed graph?

I'm working on an robot that would be able to navigate through a maze, avoid obstacles and identify some of the objects in it. I have a monochromatic bitmap of the maze, that is supposed to be used in ...
1
vote
1answer
635 views

Converting a 2D array of bits to a connectivity map (Code Debugging)

I'm working on an robot that would be able to navigate through a maze, avoid obstacles and identify some of the objects (Boxes in which it has to pot the balls) in it. I have a monochromatic bitmap ...
3
votes
1answer
129 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 ...
3
votes
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 ...
2
votes
1answer
142 views

EKF localization data association

I am working with ROS indigo and clearpath huskyA200 and wanted to implement the EKF localization with unknown correspondences with my own hokuyo lidar data for a school project. Giving the algorithm ...
2
votes
1answer
149 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 ...
2
votes
1answer
163 views

Graph Slam Landmark remove and then again add it

I try to implement Graph Slam in real dataset. My data set have some data that describe that the Robot observe same landmark over and over with a large amount of time difference. Prof. Sebastian ...
2
votes
3answers
131 views

Determining a robot's distance from a certain point when the robot's position is constantly changing

I was wondering how I could determine a robot's distance from a fixed point when the robot itself is constantly changing positions. I can keep encoders on the wheels and can also get data from a ...