Questions tagged [mapping]

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

Filter by
Sorted by
Tagged with
0 votes
0 answers
21 views

Can we use neural networks to solve the problem of SLAM? and how?

As a neural network can estimate almost any arbitrary function, I was wondering if we can use it to replace traditional SLAM algorithm. If that is possible, please explain how exactly you think it can ...
user avatar
  • 101
0 votes
1 answer
124 views

slam_toolbox mapping is not life-long?

I've tested slam_toolbox producing life-long environment mapping, and not quite satisfied with the results. Below you can see a fragment of the mapping. I used a 1x0.5m case to test the changing map ...
user avatar
  • 5
0 votes
1 answer
83 views

Dynamic mapping without localization in ROS

I have a /scan topic coming from a 2D lidar scanner. The task is to receive a mapping of the dynamic environment. It is assumed that the position of the scanner is always known, so localization is not ...
user avatar
  • 5
0 votes
1 answer
29 views

How to make gmapping dynamic, or advise any other methods to create mapping of a dynamic environment

it is a general question. Gmapping seems to be used only for creating a map of the static environment. Once created, it doesn't account for any changes - you add a new object, but it's being ignored ...
user avatar
  • 5
0 votes
1 answer
26 views

Include information on the environment in map-aware particle filter

I have a robot equipped with some sensors for estimating the movement in a 2D environment (IMU, odometer). The robot is free to move within an area delimited by some walls. The map of the environment (...
user avatar
  • 101
0 votes
2 answers
91 views

Mobile Bot Maze Solving

I am using ROS melodic on ubuntu 18.04 I have a simple 2 wheeled mobile bot, with a lidar attached to it. It is kept at the entrance of a maze (any maze). The bot has to "solve" the maze, i....
user avatar
  • 111
0 votes
1 answer
73 views

World and Map Frame for a real robot

I am trying to develop a robot for mapping purposes. Currently, I have a Velodyne VLP16 lidar and an IMU. I am having a bit of a confusion in stating the transforms of the system. For the lidar and ...
user avatar
0 votes
0 answers
32 views

offset in gridmap

colleagues, i am currently viewing Cyrill Stachniss's course on SLAM and also doing the exercises. At the moment i am doing an exercise on occupancy grid mapping and there is some strange offset ...
user avatar
  • 1
0 votes
1 answer
58 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 ...
user avatar
0 votes
1 answer
421 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, \...
user avatar
0 votes
1 answer
50 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
user avatar
  • 23
1 vote
1 answer
854 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 ...
user avatar
2 votes
1 answer
36 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 ...
user avatar
  • 23
2 votes
1 answer
67 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 ...
user avatar
  • 121
1 vote
1 answer
31 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. ...
user avatar
0 votes
1 answer
71 views

Eliminate grey space around the saved map

I have mapped my Gazebo environment using the slam_gmapping node. On running ...
user avatar
  • 195
1 vote
1 answer
64 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 ...
user avatar
0 votes
1 answer
165 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 ...
user avatar
  • 195
1 vote
1 answer
403 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 ...
user avatar
0 votes
0 answers
20 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. ...
user avatar
1 vote
3 answers
64 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 ...
user avatar
0 votes
2 answers
107 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 ...
user avatar
  • 33
1 vote
1 answer
51 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?
user avatar
  • 53
1 vote
0 answers
71 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 ...
user avatar
4 votes
3 answers
148 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 ...
user avatar
  • 145
0 votes
1 answer
82 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 ...
user avatar
0 votes
0 answers
40 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 ...
user avatar
0 votes
1 answer
365 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 ...
user avatar
  • 101
0 votes
1 answer
191 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 ...
user avatar
0 votes
2 answers
99 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 ...
user avatar
1 vote
1 answer
90 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 ...
user avatar
2 votes
1 answer
72 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 ...
user avatar
  • 121
4 votes
1 answer
80 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 ...
user avatar
2 votes
1 answer
169 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 ...
user avatar
0 votes
1 answer
96 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 ...
user avatar
0 votes
1 answer
45 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. ...
user avatar
  • 3
3 votes
2 answers
173 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 ...
user avatar
1 vote
1 answer
141 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 ...
user avatar
0 votes
2 answers
67 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 ...
user avatar
  • 1
0 votes
3 answers
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 ...
user avatar
  • 1
2 votes
1 answer
61 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 ...
user avatar
1 vote
2 answers
952 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 ...
user avatar
2 votes
2 answers
278 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 ...
user avatar
3 votes
4 answers
4k 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 ...
user avatar
1 vote
0 answers
63 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. ...
user avatar
  • 1,375
4 votes
0 answers
179 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 ...
user avatar
3 votes
4 answers
5k 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 ...
user avatar
  • 133
2 votes
4 answers
660 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.(...
user avatar
0 votes
1 answer
983 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 ...
user avatar
2 votes
2 answers
465 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 ...
user avatar
  • 121