Questions tagged [localization]

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

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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 ...
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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
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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 ...
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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 ...
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1answer
49 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 ...
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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, ...
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2answers
90 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 ...
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50 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 ...
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25 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 ...
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1answer
134 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 ...
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1answer
85 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 ...
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2answers
72 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 ...
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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 ...
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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 ...
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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 ...
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1answer
76 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?
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1answer
62 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 ...
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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 ...
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1answer
35 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 ...
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66 views

EIF slam algorithm implementation as per Probabilistic Robotics

I want to implement EIF slam from Probabilistic Robotics Table 11.2. This is the algorithm for EIF slam. To construct $\Omega and \xi$ matrix I write down a Java code. Here is my code ...
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746 views

Mobile robot navigation without static map

I am working on an autonomous mobile robot based on ROS. All the tutorials and examples requires a static map which need to be generated in order to do the localization and mapping. Do i need to ...
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1answer
150 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 ...
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1answer
131 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 ...
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2answers
67 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 ...
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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 ...
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1answer
93 views

Relation between GraphSLAM and Iterative closest Point algorithm

I have lots of doubts about GraphSLAM, The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures. When I practically implement it I get matrix singularity error. I taken ...
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198 views

GraphSLAM equation doubt

I have question about GraphSLAM implementation. To find out the path and map using GraphSLAM we rely on this equation: $$\mu=\Omega^{-1}\xi$$ where $\Omega$ is our information matrix which ...
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1answer
164 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 ...
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How to detect loop in robot movement observing odometer data

I have some odometer data. This data are based upon robot movement. I can transfer those raw data to a motion equation from where I get x,y,and theta co-ordinate of a Robot. If I plot those x,y ...
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1answer
79 views

How to localize an acoustic source underwater with a hydrophone array

I am working on an Autonomous underwater vehicle (AUV), and I do not know how to localize an acoustic source underwater I know that I will use an array of hydrophones but how can actually get the ...
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2answers
92 views

Why use GraphSLAM?

I am doing some project on Slam. I have a data set of a moving Robot which can give me the value of forward velocity(m/s) and angular velocity(rad/s) and time(s). Now if this data are provided I can ...
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More than 6 cameras in Nvidia Jetson boards

A recent startup named Skydio develops autonomous drones for photography. The drone is named as R1 and utilizes 13 cameras to map its surroundings for localization and motion planning. The brain of ...
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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 ...
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273 views

Laser Scanner for localization in particle filter

I'm working on a particle filter implementation in Matlab and I found one very good in the Robotics Toolbox (available here https://github.com/petercorke/robotics-toolbox-matlab). My problem is that I ...
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187 views

How can I compute the covariance of a camera-based relative pose measurement?

I am trying to compute the relative pose between two cameras using their captured images through the usual way of feature correspondences. I use these feature matches to compute the essential matrix, ...
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3answers
231 views

loop closure detection in visual SLAM

A robotic system is moving a getting its current location using visual odometry (incremental estimation of rotation and translation). To correct its localization, a loop closure technique may be added....
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899 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 ...
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371 views

Questions about SLAM: bundle adjustment, covariance etc

I have been recently studying about the SLAM family of algorithms, with the idea of implementing some for a multi-robot framework I have. With regards to the concept, I have a couple of related ...
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106 views

How's robot vacuum cleaner back to charger when battery is low? [closed]

What's technology robot vacuum cleaner used to locate it's charger when battery is low ?
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224 views

Kalman filter for vision based pose estimation: 'good' measurements not improving system covariance

I am starting off with a very simple Kalman filter for vision based pose estimation (PnP algorithm). The filter is inspired by the constant velocity model in this OpenCV tutorial, but I am ignoring ...
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hand_eye_calibration, surface normal by stereo vision

I'm a graduate student at mechanical engineering. I took computer vision(stereo vision) last semester but I'm still fairly new to this area. I wonder if I may ask 3 questions related to computer ...
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1answer
867 views

Process noise and Measurement noise in Kalman filter

I am doing the robot localisation project. Now I stuck on the effect of measurement and process noise in Kalman filtering. Could you please explain what impacts they have while estimating the position ...
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2answers
55 views

How to find a smartphone with a quadcopter?

I think there are some quad-copter at the market those can find you from your smart phone. I don't know how accurate it is and how does it works? Is there a solution that I can build an android/ios ...
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1answer
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$p(m|x_t, u_t, x_{t-1})$ What does Thrun mean with the “map probability”?

Different question from the last one since I still struggle with the concept. In his book "Probabilistic Robotics", Thrun has the following equation: (Context here) (5.49) $p(x_t|u_t,x_{t-1},m) = \...
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2answers
138 views

explanation of kalman filter

I have gone through my lecture notes but I can't seem to figure out the five different steps of a Kalman filter and how these steps are Divided into prediction and correction and how the state and ...
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153 views

EKF based SLAM, marginalization and key-frames

I have a couple of tightly related questions regarding EKF-based visual SLAM. It is common in the Kalman based VSLAM litterature to marginalize 3d points and past poses. Condsidering the EKF as a ...
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2answers
101 views

Localizing two points using self position and angle between this points

my question is about localizing points in 2D space. I know exact position (x,y,alpha) of my robot in some room. In room there are two points of unknow location. Robot can find angle between he and ...
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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 ...
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Resampling step for MC variation reduction

I am reading particle filtering for robot localisation and specifically the resampling step to avoid particle degeneracy. Can anyone explain me what MC (Monte Carlo) variation means? I saw it couple ...
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Kalman filter localisation equations

I am doing mobile robot localisation as a project. Now I stuck in obtaining the equations of EKF localisation. My robot moves straight for 10 seconds parallel to x-axis and robot equipped with 2 ...