Questions tagged [mapping]

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

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31 views

Using Google Cartographer library standalone

I am working on a project that requires the analysis of the results of different SLAM libraries with respect their accuracy on building a map. Right now, I am more interested in the development with ...
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looking for an online map pgm repository

I am currently writing a path planner. I wanted to test the planner for various scenarios. I was wondering if there is a repository wherein I can find a number of pgm (+yaml) map files. I came across ...
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91 views

Calculate transform from different poses

My robot is at a starting pose $s_0 = (x_0, y_0, \theta_0)$ and, while moving, I receive a sequence of motion measurements $[\mu_1, \mu_2, \: ... \: \mu_n]$, where $\mu_i = (\Delta x_i, \Delta y_i, \...
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36 views

How to extract robots coordinates using ICP algo

I would like to know How to extract robots localization from the icp or ndt algo, currently I'm using scan registration for this reason
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convert to a reference frame for lidar scan in kitti data

my question is how to convert from lidar scans frame to the reference frame, I'm working with Kitti data set which contain the oxts data (transformation from word frame to imu) and another file like ...
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342 views

Frozen map + 'Message filter dropping' - Issues with mapping and navigation in ROS2 Foxy

sorry for the long post, just want to make sure i include all the details. I am working on learning ROS2 by building a robot which maps and navigates my apartment. I'm using the RPLidar A1 sensor ...
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1answer
29 views

How to perform map matching algo using lidar scan s

I have run a code to extract features from lidar scans like poles and facades, and I created the reference map just concatenating results from each scan (i.e local map) now my question is; How can I ...
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1answer
40 views

How to detect loop closures in 2D laser SLAM?

I am trying to build an occupancy grid map using odometry and 2D lidar data through graph optimization. I am not aware of any reliable loop closing methods using only the 2D laser scans. I have been ...
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1answer
25 views

Uniform and non-uniform cost maps [closed]

I can not find a clear answer on the internet about the difference between a uniform and non-uniform cost map. I am interested in getting an answer in the context of grid maps for robot navigation. ...
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Cartographer: What determines how many nodes are added to a trajectory?

I'm testing cartographer using the Deutsches Museum public bag. I'm trying different Lua settings and checking how it affects the mapping process, etc. What I notice is that, no matter what ...
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30 views

Eliminate grey space around the saved map

I have mapped my Gazebo environment using the slam_gmapping node. On running ...
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1answer
62 views

Localization and Mapping in a Small Crop Field

I have a small crop field inside my house and I want to create a map of it. The goal is to create a map so that I can monitor the growth of the plants and do some post processing to analyze the ...
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39 views

Need help in loading occupancy_grid map to OpenCV window

I have generated a map named map_1.pgm using map_server package. I want to display it in an ...
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125 views

LEGO-LOAM: Creating and Saving a Map

I have implemented LEGO-LOAM on my system. I have a velodyne VLP16 lidar. I am getting a display like this in the rviz window. I need help in creating and saving a map from this data. What should I do?...
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288 views

Hector_navigaton on ROS Melodic error

I'm a newbie on robotics, and currently, I'm working on a project to make an autonomous robot that can mapping the surrounding environment and decide the shortest route towards the goal while avoiding ...
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14 views

How to use data collect from lidar to generate a 2d map with

I'm new to robotics and I'm using ros noetic with the package rp_lidar. I want to use the data collected from my a1m8 slamteck lidar and generate a 2d map for my rover to navigate and avoid collision. ...
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48 views

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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2answers
83 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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45 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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53 views

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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3answers
101 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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76 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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39 views

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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257 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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130 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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92 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
79 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
70 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
66 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
154 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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85 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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41 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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2answers
138 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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124 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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1k 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 ...
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32 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
708 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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237 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
3k 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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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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160 views

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
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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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4answers
574 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
870 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
388 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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467 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
381 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
523 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
185 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 ...