Questions tagged [mapping]

mapping is the construction of a spatial representation by using the sensory information perceived

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How to get 2D map using Stereoscopic camer (RGB+D), IMU and GPS?

I am starting with slam using imu, stereo camera (that gives RGB + depth info) camera and gps mounted on my robot. I wish to create a 2D map for it like this: But with landmarks, so that I can stop ...
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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 ...
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Scale drift correction in monocular ORB-SLAM2

Trying to correct scale drift in monocular ORB-SLAM2, but leads to multiple track loss events (for instance, track lost on KITTI 03 around 5-6 times). Using the scale correction method as described by ...
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How does isam compare with Gmapping and Hector?

I read about incremental smoothing and mapping (iSAM) first in the paper on hector_slam (a flexible and scalable SLAM system with full 3D motion estimation by Stefan Kohlbrecher et al) and then read ...
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Occupancy grid maps

Why do we take probabilistic approch to model the environment for robots in occupancy grid maps.The assumption is always taken that each cell on the grid map is either free or occupied.So why have ...
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60 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 ...
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31 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?
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How to evaluate a cost map?

I do have a cost map, which was computed from a few different characteristics of the terrain. How can I say, if a cost map is good mathematically? I can only look at it and see, that it has higher ...
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How to find the optimal path for a line following maze robot?

First let me explain the problem. This is a maze made only out of black lines on a white surface. The robot has only a few IR sensors which can sense the position of the line. No other sensory input ...
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loop closing in grid based fastslam 2.0

I understand how grid based fastslam 2.0 works I just would like to know how to implement a loop closure functionality in a grid-based fastslam 2.0? Since at each state we only consider the last state ...
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Ceiling Camera & robot - SLAM still neded?

I've got a question regarding the topic of SLAM. My composition consists of a mobile robot and a top down looking 2D camera with wide-angle lens. It is comparable to a survaillance camera mounted on ...
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71 views

Is SLAM done only first time in a given environment

I am training Turtlebot 2 to move around the office. I come from robotics hardware background but relatively new to computer vision and robotic mapping. Here are my two fundamental questions related ...
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51 views

Localisation of Robot in a Rectangle

I am wondering how to go about localising a robot in a rectangle drawn on a smooth surface. Basically, there is a tape that lines the shape of the rectangle, and the color of this tape is unique in ...
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Are there any Algorithms/Papers about 3D Mapping the Interior of Buildings using Computer Vision and IMU Data?

I was wondering if it would be possible to do something like this: Vision-based Autonomous Navigation and Mapping with a Small Quadrotor without using lidar/lasers. I have tried ORB-SLAM, but the ...
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99 views

Plot a map using wheel encoder and IMU data

I want to plot a map( with matplotlib or any other library ) using a wheel encoder and IMU data. Eg:- For every 10cm robot moves it should draw line (in a graph) and draw angles depending on the data ...
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52 views

Path planning or 2D Mapping

i want to collect some ideas about this video. https://www.youtube.com/watch?v=q-ZDB8xqI7M Is the Left Vacuum cleaner using some 2D Mapping or OpenCV to navigate through the room ? Or is it just a ...
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63 views

Mapping on Glass Surface

Hi i am building a robot that can travel on a transparent/glass surface but i want to map the whole surface. What is the best Solution for a 2D mapping of a transparent surface? -Is Lidar mapping ...
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57 views

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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solving for unknown 2d rotation + translation

This is a continuation of the question I asked here. I thought I'll ask a more concrete question. So far, this is what I have done to transform from a feature point detected by camera sensor in to a ...
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1answer
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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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1answer
99 views

How to build map for unknown environment? [closed]

In order to create a map for unknown environment, we have two solutions: The size of the area should be given (grid-based maps) so simply we create 2D grid and have our robot to move discrete ...
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75 views

How does 3D Lidar work?

It is a beginner question for most of you, I had Googled this question but I didn't find any satisfying answer. What is the returned raw data from lidar, the difference between 2d and 3d lidar? How we ...
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Can neural network probability directly be used as inverse sensor model?

For my robot i'm using semantic segmentation neural network that assigns to every pixel probability of being "road" (not occupied). By using homography matrix i'm re-projecting image to top-down view. ...
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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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97 views

How to use a map created with odometry

I'm using ROS Melodic with Gazebo 9 in an Ubuntu 18.04.2 LTS. I'm studying a robotics subject at the university and I have to create a map of a closed room with one obstacle using only odometry. The ...
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Drone Mapping Project

I'm mapping my college campus with a drone (as part of an approved science project). I want to film, measure the temperature, and take infrared video at the same time. What drones are good for ...
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Do I need a camera along with LIDAR for SLAM?

Equipment: Pi 3 B Mega 2x Encoder Motor 12VDC 299RPM MPU 6050 12V bat 2000mAh LIDAR or Kinect ? I want to implement EKF SLAM. I have referred bot NOX ROS wandering robot, Hussarian CORE and Robotics ...
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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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301 views

Help in Computing Inverse Kinematics of a 5 DOF Robot Config

Its is a robot config with 5 DOF. We are provided 2 offsets d1 and d2. d1 and d2 are both 0.04 meter. It is confusing for me alittle bit. I am attending lectures online but I am having trouble ...
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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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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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How to penalize blurred images in Bundle Adjustment?

We know that when rotational and linear velocity of the camera is high it is highly likely to get blurred images. The blurred image affects the quality of the accuracy in the feature tracking problem. ...
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Matlab: Simulate received signals of sonar sensors [closed]

StackExchange community! I need the guidance what to use for the generation sensor data in Matlab. My purpose is to optimize the exploration process of unknown environment using the multi-robot ...
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3D mapping using only a 2D Lidar

How can I map a 3D environment using only a 2D lidar? The lidar would be hand held and it would have 6 DoF. So if I move it in arbitrary motion in all 6DoF, I expect my algorithm to generate a 3D map ...
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436 views

Path of the robot

I have built a simple robot which will move from a source to destination. I want to record a 2d path which the robot has taken in real time. Something which is similar to the image I have take.(...
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664 views

Wall following robot oscillates heavily

I have a mapping robot , 3 ultra sound sensors HC SR04 , arduino uno board, two motors MG-6-120, power source 2 5v 4000 mAh power banks, driver L298N. It uses a wall follower algorithm (here is the ...
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318 views

Localization within a map with gyro, accelerometer and magnetometer

My goal is to locate precision within a known map. If the size of the map is known, a rectangle 4 x 3 m, and I know the initial position and orientation of the robot, after a certain period of time ...
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429 views

Obstacle avoiding by Pi camera [closed]

I designed a mobile robot with my colleagues for our graduation project, the purpose of it is to detect mines (metals) in a specific area We are programming the robot using Python on Raspberry Pi 3 ...
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1answer
354 views

Pose-graph-slam:using only a camera

I'd like to know how to form my pose graph if the only information I have available is that from a camera, (1) What are my poses? Are they just the accumulated transformations from pairwise matching? ...
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1answer
443 views

Regarding Pose Graph Slam using Lidar

So I'm trying to incorporate pose graph optimization into a mapping framework using a Lidar. So I basically have all the relative transformations between the pointclouds and I have pairs of ...
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1answer
155 views

Will Lidar see a fence?

I am looking at the possibility of using LIDAR to do obstacle avoidance for a robotics project I am working on but the project involves avoiding a chain link fence. Has anyone used LIDAR to detect ...
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2k views

A sensor that can see glass/transparent objects and surfaces

I am currently thinking about making a robot that will autonomously drive around the place. The place I want this robot to drive in however contains quite a few glass walls. When mapping the area I ...
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2answers
925 views

How to evaluate 3D Occupancy grid maps

I would like to know how to go about evaluating 3D occupancy grid maps. I have a SLAM system that produces a 3D OGM (in .bt format using octomap/octovis) I also have a ground truth OGM in same .bt ...
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684 views

Using gmapping without ROS?

Is gmapping on OpenSLAM.org still maintained? Or is the maintenance entirely over in ROS ( https://github.com/ros-perception/slam_gmapping/tree/hydro-devel/gmapping ). When trying to compile gmapping ...
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874 views

How can I implement tremaux algo in arduino line follower to navigate and create map?

The Map1 The task is divided into 2 runs, In first run, We have to navigate through whole map and reach the end mark taking all checkpoints. In second run, using the mapping from first run we have to ...
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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 ...
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311 views

VFH+ (Vector Field Histogram+) : Is it possible to choose a candidate sector without a set goal point?

Good day I am currently implementing the VFH algorithm. Is it possible to configure the algorithm such that a reactionary motion is generated at the presence of an obstacle? I have been able to ...
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1answer
356 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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2answers
273 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 ...
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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 ...