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
22 views

Localization of a mobile robot with odometry using quadrature encoders . Is it feasible?

My goal is to localize a mobile differential drive platform using just quadrature encoders using dead reckoning. The robot will operate indoors and is to execute goal to goal trips through hallways ...
0
votes
1answer
31 views

How to extract robots coordinates using ICP algo

I would like to know How to extract robots localization from the icp or ndt algo, currently I'm using scan registration for this reason
0
votes
0answers
12 views

convert to a reference frame for lidar scan in kitti data

my question is how to convert from lidar scans frame to the reference frame, I'm working with Kitti data set which contain the oxts data (transformation from word frame to imu) and another file like ...
1
vote
1answer
23 views

How to perform map matching algo using lidar scan s

I have run a code to extract features from lidar scans like poles and facades, and I created the reference map just concatenating results from each scan (i.e local map) now my question is; How can I ...
1
vote
0answers
17 views

Self localization for 3 wheeled omnidirectional robot

I am trying to self localize a 3 wheeled omni directional robots using just motor encoders I followed the odometry method mentioned in equations 5,8,9 of https://bibliotecadigital.ipb.pt/bitstream/...
0
votes
0answers
23 views

Cartographer: What determines how many nodes are added to a trajectory?

I'm testing cartographer using the Deutsches Museum public bag. I'm trying different Lua settings and checking how it affects the mapping process, etc. What I notice is that, no matter what ...
1
vote
1answer
66 views

No difference between UKF and EKF for SLAM

I built EKF and UKF SLAM algorithms. The problem is that I expected to see a difference because of the more precise approximation of the system in the UKF. Here's a screenshot from the estimated path ...
1
vote
1answer
53 views

Localization and Mapping in a Small Crop Field

I have a small crop field inside my house and I want to create a map of it. The goal is to create a map so that I can monitor the growth of the plants and do some post processing to analyze the ...
0
votes
0answers
26 views

multirobot_map_merge package not working properly

I am trying to map a Gazebo environment using 2 husky bots using the multirobot_map_merge package. However, the merged map being produced is wrong and the robots are not being localized correctly ...
1
vote
0answers
33 views

SLAM - Angle calculation failure ?-EKF

i am currently building up a EKF SLAM. I dont know where my mistake is but i think it has something to do with the angle my robot is driving towards but im not completly sure. First i thought it could ...
0
votes
0answers
25 views

SLAM Initialize new landmark - specifically the covariance

Im trying to bring an EKF - SLAM to life but it keeps on failing. Specifially, I think, my mistake lies in the initialization of the new cone <-> covariance. I multiply the Jacobian (derived ...
0
votes
1answer
30 views

How to handle curved paths in maze

-I have an RPi on Ubuntu with ROS (Kinetic). The task is to solve a maze. I have implemented a left-hand algorithm to navigate through the maze. -The robot is equipped with 3 ultrasonic HC-SR04 ...
0
votes
0answers
52 views

EKF Update Step measurement data doesnt fit state vector

I have an EKF SLAM Algorithm which tries to estimate the robots position (X,Y,Theta) + the X,Y coordinates of several landmarks. Like in the posted algorithm i have a range/bearing sensor. I ...
0
votes
1answer
21 views

Extract laser scan from a map and known location

If we have the map of an environment (an occupancy grid for instance) and precisely know the pose of the robot within it. How can one reconstruct what the laser scan should look like at a given ...
0
votes
0answers
34 views

Fusing cross-correlated measurements for mobile robot's localization using unscented kalman filter (ukf)

I'm currently working on a mobile robot's indoor localization. On the perception side, I can only rely on a 2D lidar and wheel odometry. I have used these sources as input of different localization's ...
0
votes
2answers
45 views

Sparcification of SLAM with SEIF (Sparse Extended Information Filter)

I am studying SLAM (Simultaneous Localization and Mapping) with textbook "probabilistic robotics". I cannot understand well about Sparsification step, so I found original paper for that; ...
0
votes
1answer
27 views

Compute how well a laser scan matches or overlaps with its environment given a map of the environment and location of the robot is known

If I knew the exact location of my robot and have an accurate map (for eg. an occupancy grid map) of the environment beforehand, how can I compute a measure of how well the laser scan data agree with ...
2
votes
1answer
80 views

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 ...
0
votes
1answer
49 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 ...
1
vote
0answers
12 views

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 ...
0
votes
0answers
11 views

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 ...
0
votes
0answers
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 ...
4
votes
0answers
110 views

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 ...
0
votes
1answer
28 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 ...
1
vote
2answers
71 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 ...
0
votes
0answers
13 views

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 ...
1
vote
1answer
65 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 ...
0
votes
0answers
8 views

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 ...
0
votes
1answer
42 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 ...
0
votes
1answer
56 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, ...
0
votes
1answer
112 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,...
2
votes
0answers
34 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 ...
0
votes
1answer
73 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. ...
2
votes
0answers
55 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 ...
2
votes
1answer
70 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 ...
0
votes
0answers
30 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 ...
2
votes
0answers
40 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 ...
0
votes
1answer
55 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 ...
0
votes
1answer
35 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 ...
2
votes
2answers
60 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 $(x', y', \theta')$ ...
0
votes
1answer
37 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 ...
0
votes
1answer
84 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
votes
1answer
60 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 ...
0
votes
2answers
71 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 ...
0
votes
1answer
78 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....
0
votes
3answers
209 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 ...
0
votes
1answer
79 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 ...
1
vote
0answers
36 views

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 ...
1
vote
0answers
23 views

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, ...
1
vote
1answer
44 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?

1
2 3 4 5 6