Questions tagged [localization]

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

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6
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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 ...
4
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3answers
570 views

Addressing the sample impoverishment in particle filter

I have implemented a particle filter algorithm for the state estimation of a mobile robot. There are several external range sensors(transmitters) in the environment which gives information on the ...
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1answer
108 views

In vision based localization, is it possible to make multiple vehicles cooperate to improve the estimation of each other?

I am currently working on a project that involves structure from motion using multiple cameras on multiple aerial vehicles (each vehicle has a monocular camera: think of it as a distributed stereo), ...
4
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1answer
480 views

Localization of a Robot to find it Coordinates according to the Known Map

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
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3answers
469 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. ...
1
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0answers
135 views

Using an AR.Drone's IMU to perform PDR

My task is simple: I want to move my drone manually around a room (IMPORTANT: I DO NOT WANT TO FLY IT) and I want to see its position update on a map using IMU data. I've attempted something in ROS ...
1
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1answer
380 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 ...
2
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0answers
205 views

Introducing new particles in particle filters for localization

Standard particle filters can produce bad localization result if the initial particle generation step produces no particle that is close to location (and bearing) of tracked object. The accuracy ...
6
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1answer
1k views

LIDAR Points as Landmarks

I am currently trying to implement a GraphSLAM/SAM algorithm for LIDAR. From papers I've read, you generate a directed graph from expected LIDAR measurements to landmarks similar to the image below (...
8
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4answers
2k views

In EKF-SLAM, why do we even need odometry when there is a more reliable sensor?Also, are all SLAM algorithms feature-based?

In the book of SLAM for dummies, why do we even need the odometry when the robot would use the data retrieved from the laser scanner which is more accurate than odometry? Why not just rerly on the ...
3
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2answers
2k views

Understanding and correct drift when using BreezySLAM (aka tinySLAM / CoreSLAM)

I was looking for a Python implementation of SLAM and stumbled upon BreezySLAM which implements tinySLAM aka CoreSLAM. My robot is equipped with the hokuyo urg-04lx-ug01. I have odometry hence ...
5
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4answers
604 views

Do simple, non-sonic, omni-directional rangefinding beacons exist?

I am on a robotics team that plans to compete in a competition where one of the rules is that no sort of sonic sensor is allowed to be used. I guess that limits it to some sort of EM frequency right? ...
24
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8answers
16k 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 ...
2
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1answer
781 views

Heading and Yaw Rate Measurements

I am working in the field of automated vehicles mainly in the domain of passenger and commercial vehicles. I have been studying whatever I can get regarding the measurement the state (relative ...
3
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3answers
240 views

Using robotic simulator for prediction step in probabilistic localization approaches

Probabilistic localization approaches like Kalman or Monte Carlo benefit from an accurate prediction step. The more accurate the prediction step, the more accurate is the belief of the robots pose. In ...
2
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1answer
373 views

Autonomous Indoor Positioning System Robot based on CV approach

I have some questions regarding an IPS autonomous robot system, Configuration: Mounting a camera to the ceiling of a room Assume the room is a cube of 5mx5mx5m (LxWxH) Assume the camera is ...
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1answer
1k views

Linearize a non linear system

How do I linearize the following system using taylor series expansion: $\dot x = v cos\theta \\ \dot y = v sin\theta \\ \dot \theta = u$ Here, $\theta$ is the heading direction of my robot, measured ...
1
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1answer
1k views

Is there an algorithm using the Kinect depth image (not the point cloud) for registration?

I know given the intrinsics fx, fy, cx, cy (where fx, fy are the horizontal and vertical focal length, and ...
2
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2answers
552 views

Distance calculation with two robots and two obstacles

I have a problem with two robots and two obstacles in a space. Each robot can communicate its measurements to the other and can measure angles and distances. The two obstacles in the environment are ...
0
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1answer
88 views

All-in-one GNSS localization solution (hardware+software) [closed]

Is there something like an all-in-one satellite based localization solution that would contain both hardware and software to do GNSS localization for robotics? I mean a package that would also contain ...
0
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1answer
1k views

Dead Reckoning: Obtaining Position Estimation from Accelerometer Acceleration Integration

Good day, I have been reading papers about position integration from accelerometer readings. I have consulted this paper from freescale on how that is achievable and this article regarding leaky ...
4
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2answers
783 views

How can my robot find its position in any given map without GPS, including when the initial point is not given?

Consider this map The Contest arena shown in figure 1 consists of two sub arenas, both the sides are identical to each other and their scientists and safe zone locations are similar. Each sub arena ...
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0answers
45 views

How to determine the angles between a UAV and a sphere

I have an UAV modeled in three dimensions with let's say position coordinates $p_{uav} = (x_1,y_1,z_1)$ that is moving in a direction $d = (d_x,d_y,d_z)$ and a moving obstacle modeled as a sphere with ...
0
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1answer
81 views

Suitable uC for atonomous robot

I am going to build an autonomous robot with Kalman-filter for localization integrated from Lidar, encoder, IMU and GPS. I will also add obstacle avoidance while moving to the required position. Is ...
4
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1answer
2k views

Understanding Drift in Simultaneous Localization and Mapping (SLAM)

I am trying to understand the effect of drift in Simultaneous Localization and Mapping (SLAM). My understanding is that drift occurs because the robot tracks its position relative to a set of ...
2
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2answers
72 views

How to guide a camera through a circular tube?

Let's say I have a 6-DOF flying camera and I want to make it move through a circular tube autonomously and let's suppose that the camera and the system that makes it fly are considered to be just a ...
4
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3answers
2k views

Plotting location using wheel encoder data

Context: I am working with the SFU Mountain Dataset [http://autonomylab.org/sfu-mountain-dataset/] The UGV image - via the SFU Mountain Dataset website: I have used the following state update ...
3
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2answers
607 views

Multi-Rate Sensor Fusion using EKF

Context: I have an IMU(a/g/m) + Wheel Odometry measurement data that I'm trying to fuse in order to localize a 2D (ackermann drive) robot. The state vector ...
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1answer
252 views

Determine robot's position in a nearby room

Scenario I have 2 roaming robots, each in different rooms of a house, and both robots are connected to the house wifi. Each robot only has access to the equipment on itself. Question How can the ...
3
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1answer
123 views

How to estimate the position of multiple static ground targets captured from a down facing camera?

An aerial vehicle captures images of the ground using its down facing camera. From the images, multiple targets are converted from their pixel position to the camera reference frame using the pinhole ...
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2answers
2k views

Localization with only IMU [duplicate]

What will be the best approach to get the most localization accuracy out of only an accelerometer and gyroscope?
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3answers
1k views

How to have a 'Auto Go Home' feature, like the DJI Phantom 3, on a project built quadcopter?

What should a quadcopter have, or have access to, in order to make this 'return home' feature work? Is GPS enough? What is the approach needed to make this happen? I used a Arduino Mega 2560 with IMU ...
2
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2answers
2k views

Real-time camera localisation in known environment

I am young researcher/developer coming from different (non-robotic) background and I did some research on camera localisation and I came to the point, where I can say that I am lost and I would need ...
2
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1answer
199 views

Implementing a position control for UAV through a flight controller. Plant model is unknown

We are using Naza-M-Lite for our flight controller without GPS. The localization is obtained through our RGB-D camera sensor. We are able to teleoperate and even implement PID controllers for Roll, ...
2
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1answer
2k views

Modelling Point Clouds for Collision Detection in Gazebo

I am currently applying path planning to my robotic arm (in Gazebo) and have chosen to use an RRT. In order to detect points of collision, I was thinking of getting a Point Cloud from a Kinect ...
2
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4answers
388 views

making a robot that knows your location

I've just made a radio frequency remote control using PIC microcontroller and I want to do something useful with it. I am thinking of a robot that gets things for you while you are at bed but here ...
2
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2answers
4k views

Using an RGB + Depth Camera to locate X,Y,Z coordinates of a ball

I've recently been trying to use Gazebo to do some modelling for a couple tasks. I have a robot that's effectively able to locate a ball and get x,y coordinates in terms of pixels using a simple RGB ...
2
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2answers
1k views

Is it possible to do SLAM with few IR sensors like Buddy?

I saw Buddy's page and want to purchase for my SLAM research. However, I wonder is it possible to program Buddy for SLAM? According to Buddy's spec, they're only few IR's, sonars and a camera. As I ...
2
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2answers
109 views

Aligning datasets with drift

I have a dataset that contains position information from tracking a robot in the environment. The position data comes both from a very accurate optical tracking system (Vicon or similar) and an IMU. I ...
1
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1answer
135 views

How to implement Bounded Angle Vision in Particle Filter?

I have built a Particles Filter simulator and I wanted to add the following functionalities. Limited Range Vision (Robot can see up to 50 meters) Limited Angle Vision (Robot can see within a certain ...
4
votes
1answer
710 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 ...
4
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3answers
1k views

Algebraic and geometric in inverse kinematic

I'm just wondering that is there any case that when algebraic way can't solve the problem while the geometric can ? Cause I'm working on a 2DOF robotics arm This one, I know the length of L1 and L2, ...
2
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0answers
98 views

2D Positioning of mobile robot [closed]

I am just starting to explore an idea and I am somewhat of a novice in robotics. I am looking to position a mobile robot as accurately as possible on a concrete slab. This would be during new ...
1
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3answers
837 views

Using a Bitmap maze image to navigate the maze

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 ...
4
votes
1answer
922 views

Wall following using hokuyo lidar and sharp IR sensors

I have a mobile robot and I would like it to follow the walls of a room. I have: A map of the room. Wheel encoders for the odometry. A Kalman filter for fusing data from wheel encoders and IMU. A ...
1
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1answer
259 views

Robot localization without any sensors

Is it possible to localize a robot without any sensors, odometer and servo motors? Assume robot has dc motors and no obstacles.
7
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4answers
4k views

Robot docking for self-recharging

I want to build a simple obstacle avoider robot, but this time I want it to be self-recharging so I am building a dock for this purpose, so I want it to be able to locate the dock and go for it when ...
1
vote
1answer
870 views

Using a Sick laser with Matlab in Windows

Is there a Matlab toolbox available to use Sick lasers in Windows? I found one toolbox for Matlab in GNU/Linux. Is there another way to use Sick laser via Matlab in Windows?
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 ...
6
votes
3answers
1k views

Motion Model for Holonomic Robot

We are working with an holonomic robot equipped with three (120 degree shifted) omnidirectional wheels. The relative movement is estimated by dead reckoning using wheel encoders. To improve this ...