Questions tagged [mapping]
mapping is the construction of a spatial representation by using the sensory information perceived
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1answer
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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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2answers
28 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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1answer
33 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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1answer
43 views
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
34 views
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
60 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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1answer
48 views
How does 3D Lidar work
It is a beginner question for most of you, I had Google this question but I didn't reach any satisfied answer . What is the returned raw data from lidar,difference between 2d and 3d lidar ? How we map ...
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1answer
30 views
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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1answer
33 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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54 views
3D mapping with octomap
I want to use octomap and while I tried this out I had some problems. When I started octomap_server and rviz I realized that the sensor is looking only in one way, even if I rotate my robot (my fixed ...
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1answer
46 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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2answers
52 views
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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3answers
122 views
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 ...
2
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0answers
17 views
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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2answers
120 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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2answers
70 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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4answers
1k 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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0answers
52 views
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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0answers
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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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4answers
2k views
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 ...
2
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4answers
315 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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1answer
438 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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2answers
235 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 ...
3
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0answers
290 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
316 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
375 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 ...
2
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1answer
123 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 ...
4
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3answers
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 ...
2
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2answers
682 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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3answers
529 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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3answers
717 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
1k 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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1answer
241 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 ...
2
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1answer
344 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 ...
3
votes
2answers
268 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 ...
2
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1answer
1k 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 ...
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1answer
171 views
How does information gain based exploration differ from frontier based?
I've recently come across the concept of using information gain (or mutual information criteria) as a metric for minimizing entropy on a map to aid in robotic exploration. I have somewhat of a basic ...
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2answers
93 views
Mapping between camera pose and image features in visual servoing
I have a robotic arm and a camera in eye-in-hand configuration. I know that there is a relationship between the body velocity $V$ of the camera and the velocities $\dot s$ in the image feature space ...
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2answers
1k views
Advanced Line Following Robot of Maze Solving
I know how to make a line follower. But in this video what have they done exactly? They are giving the source and destination in the map but how the robot moves based on the instruction given in map?
...
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1answer
226 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.
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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 ...
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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 ...
3
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1answer
77 views
Mapping formats for small autonomous robots
I have some robot software I'm working on (Java on Android) which needs to store a pre-designed map of a playing field to be able to navigate around. The field's not got any fancy 3d structure, the ...
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1answer
51 views
How to efficiently do 3D mapping of an area on a MAV?
I have been researching on a cost-effective way to scan an area on a MAV (exploraton) and later use it for CAD/civil purposes(use the point cloud data for CAD) but the major sensors available have ...
1
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1answer
592 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 ...
2
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1answer
469 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 ...
1
vote
2answers
6k 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 ...
0
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1answer
77 views
How to approach an object
My question is more on a basic/conceptual level.
I'm looking into a way to approach an object in map, that I have detected earlier. My robot is localized in a map using SLAM. And object position is ...
0
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1answer
67 views
Mapping algorithm without noise
I have a simulated robot moving in a discretized 2D grid world that (for various simplification and time-restriction reasons) has no noise. The problem is how the robot creates its initial map of the ...
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2answers
906 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 ...
