Questions tagged [mapping]
mapping is the construction of a spatial representation by using the sensory information perceived
89
questions
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1answer
14 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 ...
1
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1answer
23 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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0answers
18 views
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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1answer
25 views
Eliminate grey space around the saved map
I have mapped my Gazebo environment using the slam_gmapping node. On running ...
1
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1answer
51 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 ...
0
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1answer
31 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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0answers
39 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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1answer
179 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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0answers
13 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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0answers
10 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 ...
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0answers
13 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 ...
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0answers
11 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 ...
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3answers
43 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
69 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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1answer
44 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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0answers
43 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 ...
3
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3answers
82 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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1answer
57 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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0answers
38 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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1answer
188 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
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1answer
82 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
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2answers
86 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
69 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
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1answer
69 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 ...
4
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1answer
59 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
129 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
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1answer
82 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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1answer
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. ...
3
votes
2answers
118 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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1answer
114 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
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2answers
64 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
941 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
28 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
520 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
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2answers
190 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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0answers
59 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
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0answers
157 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
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4answers
4k 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
522 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
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1answer
790 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
359 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
453 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
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1answer
366 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
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1answer
491 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
174 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
3k 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 ...
3
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2answers
1k 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
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3answers
773 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
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3answers
930 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 ...
