# Questions tagged [localization]

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

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### 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 ...
282 views

### Having a hard time understanding this equation in monocular EKF SLAM

Reading this paper on visual odometry, where they have used a bearing vector to parameterize the features. I am having a hard time understanding what the state propagation equation for the bearing ...
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 ...
71 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 ...
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 ...
578 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 ...
228 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 ...
122 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 ...
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?
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 ...
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 ...
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 ...
102 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 ...
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 ...
682 views

### How to calculate vehicle detection distance?

I would like to know how to calculate the distance to each car when I run my application for an autonomous vehicle in real-time. In addition, I want to know how to implement the calculation in C++. ...
897 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 ...
252 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.
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 ...
699 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 ...
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 ...
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 ...
63 views

### where to get this reference about Kalman filter, technical report

I'm sorry for this question that might not fit in here however, I would like to give it a shot. I've chosen this stack since the question is somehow related to mobile robots. I've came across a paper ...
1k views

### How do I choose the best filter for dead reckoning with an IMU?

I'm searching filter to reduce noise and smooth the signal while dead reckoning with an IMU (6dof gyro+accelerometer). What are the differences/advantages/disadvantages of the following filters: ...
1k 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 ...
850 views

### Structuring EKF to estimate pose and velocity with odometry inputs

I have a differential drive robot for which I'm building an EKF localization system. I would like to be able to estimate the state of the robot $\left[ x, y, \theta, v, \omega \right]$ where \$x, y, \...
652 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 ...
497 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 ...
58 views

### Fingerprinting/ model matching algorithms for localization

This paper mentioned the fingerprinting/model matching case. But I could not find an image based algorithm. Any suggestion about image based localization
7k views

### Hector SLAM, Matching algorithm

I'm trying to understand the scan-matching part of Hector SLAM (PPT summary). It seems a little difficult to understand, in some cases, how is it possible to actually perform the alignment of the ...
300 views

### Image based 3d position estimation with one camera

There is too many 2d position estimation with one camera. Is there any 3d position estimation application or technique with one camera? If there is no application or technique why?
54 views

### Position estimation from photo fingerprinting

i want to make 3d position and position change estimation from photos taken from flying robot. I need suggestions for fast photo matching.
2k views

### What is the difference between Positioning and Localization Systems

I would like to know what are the differences between Positioning and Localization Systems. In most review papers they are used interchangeably. Are they the same? For example: GPS(Global Positioning ...
136 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 ...
149 views

### Locating Omni-Directional Robot

I have an omni-directional robot, such as a X-Drive or mecanum Drive that I need to track the position of. I can put encoders on the wheels, but that is all I can do in terms of the sensors. I have no ...
1k views

### using range-only sensors for mapping in SLAM

SLAM noob here but trying to implement an algorithm that fuses odometry data and mapping based on wifi signal strengths for a 2D robot. 1) After various readings of different resources, I came across ...
810 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 ...
147 views

### Implementation of wall and obstacle avoidance

I have a task of developing a simulation of an adaptive robot control system but I don't seem too have anyone to discuss my uncertainties with. I want to keep the simulation as simple as possible as I ...
4k views

### How to combine an accelerometer and a gyroscope to find robot location and orientation in 2D/3D space [duplicate]

I have data from an accelerometer that measures X,Y,Z acceleration and data from a gyroscope that measure pitch, roll and yaw. How would I combine this data to find robot location and orientation in ...
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 ...
55 views

### SLAM Goal Babbling

I am struggling to find good links to the use of goal babbling in SLAM applications. Has this technique been used as a method for optimizing movement in a SLAM environment?
382 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 ...
2k views

### Best localization method?

I am making a robot that is supposed to roam inside my house and pick up trash using openCV. I plan to send information from my arduino mega to my arduino nano connected to window pc using radio ...
370 views

### Is the accuracy of estimated position in localization better than estimated position in SLAM?

We estimate position of robot in localization and SLAM. My intuition says we get better position estimation in localisation than in SLAM because we have better sensor model likelihoods in localization ...
2k views

### Can triangulation by measuring angles to 3 beacons to find location work over a large outdoor area

To determine an outdoor location I think that I need to measure the angles between at least 3 beacons and take into account the order I sweep the beacons. Is this a workable solution to get ...
77 views

### Is a simple range sensor described below sufficient to implement particle filter localization?

I am trying to implement a monte carlo localization/particle filter localization with a simple range sensor. The range sensor only sees in the direction the robot is heading and returns back any ...
197 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, ...
4k views

### Build a ROS robot with SLAM without laser

I've build a simple wheeled robot based on two continuous servos, controlled by Raspberry Pi running ROS-groovy, with a smart phone mounted on top to provide additional sensors. I'd like to situate ...
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 ...