Questions tagged [localization]

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

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3
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2answers
446 views

How to calibrate differential drive?

I'm building a robot with differential drive. I've reached the point when I can drive it around on remote control and I'm trying to get the localization working. Now I would like to exactly measure ...
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2answers
11k views

Accelerometer, gyro, and magnetometer sensor fusion in 2d

I have not yet build this so this is basically a theoretical question. I am still wrestling with some C code to manage i2c communication etc. When I originally said "I have not build this" I meant ...
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3answers
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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 ...
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1answer
240 views

Precision we can expect of an ultrasound-based localisation system

I'm considering building an absolute, indoor robot-positioning system based on ultrasound Time Of Flight. Transducers will be ordinary, narrow-band, 40 kHz ones. Based on your experience, what is the ...
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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 ...
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0answers
134 views

Random number generation for Particle Filter

I implemented a bootstrap Particle filter on C++ by reading few Papers and I first implemented a 1D mouse tracker which performed really well. I used normal Gaussian for weighting in this exam. I ...
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2answers
414 views

SLAM for Autonomous car

I am working on SLAM for autonomous car like vehicles with 2D lasers and IMU (deriving odometry). I would like to know how efficient is using the existing SLAM algorithms (for example: gmapping in ...
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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 ...
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5answers
549 views

Using vision for Monte-Carlo localization

From each step of my vision code I am able to get around 400 coordinates of where the robot thinks the walls are I want to integrate this into Monte-Carlo observation step. I'm storing the map of ...
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1answer
445 views

Monte-Carlo Localization

I'm implementing Monte-Carlo localization for my robot that is given a map of the enviroment and its starting location and orientation. Mine approach is as follows: Uniformly create 500 particles ...
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1answer
1k views

How to choose WiFi signal strength detecting sensors

We want to create robot that will localize itself by the signals of wifi routers. Which sensors should we buy to detect strength of 3 WiFi signal? Which of following is necessary for us? http://www....
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3answers
871 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, ...
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1answer
147 views

Defining frames for 5DOF robotics arm

For examples if i have this robotic arm: Example, for the base rotation (5th DOF in the clip at 0:58), we know that the Z axis for that joint will be the same as the Z axis for the base frame{0}, but ...
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2answers
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Fake localization using bag file in ROS

I have a bag file that contains couple of topics needed for localization, odometry data, kinect data and /tf. What I want is watching robot's movement path in ...
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1answer
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Particle filter implementation in ROS

I'm looking for particle filter implementation in ROS to use in mobile robot localization, but it seems the only available package is amcl (Adaptive Monte Carlo), I'm not sure is it possible to use it ...
3
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1answer
3k views

Calculate covariance matrix from x,y,z data

In ROS I've recorded a bag file from a custom robot (in real world) that does not provide covariance matrix and I want to use /odom to feed an EKF, but covariance ...
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4answers
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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 ...
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3answers
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What is the most appropriate SLAM algorithm for quadrotors with RGB-D camera?

I have been researching on SLAM. I came across EKF SLAM which uses odometry to measure the robot's initial position in the map and as well as landmarks which helps the robot's position to be more ...
2
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1answer
267 views

Does Monte Carlo Localization need a predefined map?

So I'm doing some reading on Monte Carlo Localization, and it sounds like the approach is based on using a predefined map, but I just need to make sure (because I haven't read anywhere that it ...
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3answers
1k views

question about car-like robot localization based on dead-reckoning

I have a question about car-like robot localization using only dead-reckoning. Given: robot position (at current time step) in the form $\begin{bmatrix}x & y & \theta\end{bmatrix}$ (theta is ...
5
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1answer
109 views

What frame of reference is used during Visual Servoing?

I'm new to the whole visual servoing area. I'm now reading the tutorial Visual Servo Control Part I: Basic Approaches" and I don't understand something fundamental - what information is available to ...
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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 ...
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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 ...
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1answer
123 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 ...
5
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1answer
281 views

laser scanner distance

I'm looking at laser scanners and I see a huge range of detection distances. The furthest I've see are 30m if you exclude the very expensive ones that claim up to 150m. My question is what is the ...
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2answers
198 views

How to perform this reference system transformation?

I have two quaternions that indicate the initial orientation of a four wheel robot, each one in relative to one reference systems. The robot's orientation given by a quaternion q is not the same in ...
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4answers
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What are human-friendly terms for mobile-robot orientation and relative direction of non-robot objects?

Within robotics programming, orientation is primarily given in terms of x, y, & z coordinates, from some central location. However x, y, z coordinates aren't convenient for rapid human ...
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4answers
6k views

How to make an “invisible line following robot”?

I would like to build a robot which follows a virtual path (Not a visible path like a 'black line on a white surface', etc). I'm just enthusiastic by seeing some sci-fi videos which show robots carry ...
4
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1answer
205 views

Local Localisation with particle filter

I am doing Local Localisation with sonar, particle filter (i.e all particles are initially with robot pose). I have grip map of environment. When I execute algorithm in environment (where doors are ...
14
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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 ...
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1answer
810 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?
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1answer
218 views

Can you seed a Kalman filter with a particle filter?

Is there a way of initializing a Kalman filter using a population of particles that belong to the same "cluster"? How can you determine a good estimate for the mean value (compute weighted average ?) ...
19
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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 ...
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2answers
2k views

EKF-SLAM Update step, Kalman Gain becomes singular

I'm using an EKF for SLAM and I'm having some problem with the update step. I'm getting a warning that K is singular, rcond evaluates to ...
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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 ...
7
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3answers
985 views

Visual Odometry options? [closed]

What are the pros/cons of the different visual odometry options? Stereo Camera Optical Flow SLAM other? Criteria: how well it performs vs other odometry options/sensors (lidar, radar) sensor ...
8
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1answer
197 views

What kind of performance can I expect when using an Extended Kalman Filter for calibration and localization?

Currently I have a tricycle style robot that uses an extended kalman filter in order to track 6 state variables. The inputs to the system are a steer encoder, a distance encoder, and a rotating laser ...
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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 ...
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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 ...
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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 ...
9
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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 ...
12
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5answers
367 views

What's the most accurate way to obtain a locational fix using GPS?

Obviously GPS is the most obvious and accessible technology for obtaining a locational "fix" for a robot at any particular time. However, while it's great sometimes, in other locations and situations ...
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2answers
1k views

Mobile robot localization in a known map [closed]

I want to localize a mobile robot equipped with a 2D laser scanner in a known indoor environment. The map is a 2D occupancy grid, but is not perfect. What algorithms are appropriate for mobile robot ...
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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?

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