Questions tagged [mapping]
mapping is the construction of a spatial representation by using the sensory information perceived
84
questions
0
votes
0answers
8 views
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 ...
0
votes
0answers
11 views
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 ...
0
votes
0answers
9 views
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 ...
0
votes
0answers
9 views
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 ...
1
vote
3answers
35 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 ...
0
votes
2answers
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 ...
0
votes
1answer
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?
0
votes
0answers
20 views
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 ...
1
vote
0answers
29 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 ...
0
votes
0answers
8 views
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 ...
0
votes
0answers
26 views
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 ...
3
votes
3answers
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 ...
0
votes
1answer
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 ...
0
votes
0answers
37 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 ...
0
votes
1answer
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 ...
0
votes
1answer
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 ...
0
votes
2answers
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 ...
1
vote
1answer
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 ...
2
votes
1answer
66 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 ...
3
votes
1answer
46 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 ...
2
votes
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 ...
0
votes
1answer
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 ...
0
votes
1answer
36 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. ...
2
votes
2answers
82 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 ...
0
votes
1answer
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 ...
0
votes
2answers
62 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 ...
0
votes
3answers
708 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
votes
0answers
24 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 ...
1
vote
2answers
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 ...
2
votes
2answers
92 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 ...
2
votes
4answers
2k 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 ...
1
vote
0answers
58 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. ...
4
votes
0answers
147 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 ...
3
votes
4answers
3k 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
votes
4answers
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.(...
0
votes
1answer
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 ...
2
votes
2answers
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 ...
3
votes
0answers
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
...
1
vote
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?
...
2
votes
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 ...
2
votes
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 ...
4
votes
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
votes
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 ...
0
votes
3answers
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 ...
5
votes
3answers
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 ...
2
votes
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 ...
0
votes
1answer
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 ...
2
votes
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 ...
3
votes
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 ...
3
votes
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 ...
