Questions tagged [mapping]
mapping is the construction of a spatial representation by using the sensory information perceived
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0answers
11 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 ...
0
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1answer
70 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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0answers
18 views
Map merging of mobile Robots
I have Five Robots data.Which I used to generate maps. More preciesly Robot 1 generate Map1. Robot 2 generate Map 2, Robot 3 generate Map3, Robot4 generate Map 4 , Robot 5 geberate Map 5. Now these ...
2
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2answers
62 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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2answers
591 views
Which is a good and cheap 3D LIDAR or other options?
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
49 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
85 views
Matlab: Simulate received signals of sonar sensors
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
1k 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 ...
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4answers
225 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
356 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
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2answers
190 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 ...
2
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0answers
206 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
290 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?
...
3
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1answer
312 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
104 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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2answers
1k 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
552 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
437 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
598 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 ...
3
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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 ...
0
votes
1answer
181 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
334 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
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2answers
263 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
986 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 ...
0
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1answer
154 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
89 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 ...
0
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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
217 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
950 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 ...
3
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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
votes
1answer
72 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
50 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 ...
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1answer
549 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
452 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
5k 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
76 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
63 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
823 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 ...
2
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2answers
327 views
how to plot $\pm 3 \sigma$ of a landmark in EKF-SLAM
I have implemented 2D-SLAM using EKF. The map is based-feature in which there is only one landmark for the sake of simplicity. I've read some papers regarding this matter. They plot the $\pm3\sigma$ ...
0
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1answer
1k views
joint compatibility branch and bound (JCBB) data association implementation
I would like to implement the joint compatibility branch and bound technique in this link as a method to carry out data association. I've read the paper but still confused about this function $f_{H_{i}...
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0answers
54 views
SLAM Goal Babbling
I am struggling to find good links to the use of goal babbling in SLAM applications. Has this technique been used as a method for optimizing movement in a SLAM environment?
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3answers
211 views
Can mapping be done in real life applications without also solving the localization problem at the same time (i.e. SLAM)?
I know that Occupancy Grid Mapping requires the assumption that the robots' pose is always known when generating a map. However, I also know that in reality, position and orientation usually treated ...
0
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2answers
422 views
Robotics simulation from PNG map
I am a complete beginner at this.
I have an arbitrary map as a PNG file (black and white, only). And I'm supposed to draw a robot at a position(x,y) and then I'm supposed to simulate the robot taking ...
1
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1answer
98 views
Shortest path using wave planner?
How could I compute the shortest path between point a and b using wave planner?
I don't see how using the wave planner would give me the shortest; it would just give me a path! As far as I can tell, ...
4
votes
2answers
1k views
the uncertainty of initializing new landmark in EKF-SLAM
In EKF-SLAM (based-feature map) once the robot senses a new landmark, it is augmented to state vector. As a result, the size of the state vector and the covariance matrix are expanded. My question is ...
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vote
1answer
112 views
Finding changes in environment using 2d laser
I have known map of the environment (2d occupancy grid map). I am trying to find if anything changed in environment using 2d laser while navigating by using maximum likelihood of laser with known map. ...
3
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1answer
812 views
EKF SLAM and Mahalanobis distance?
So far I have done EKF Localization (known and unknown correspondences) and EKF SLAM for only known correspondences that are stated in Probabilistic Robotics. Now I moved to EKF SLAM with unknown ...
3
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3answers
336 views
Mahalanobis distance between 2 line features
I am implementing the ATLAS SLAM framework for a ground robot, using EKF Slam for local maps and using line segment features. The line segment features can be abstracted to their respective lines <...
4
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5answers
587 views
How does a robot efficiently store a map it makes?
From what I understand, you can create a map using sensors and storing values in an array. For example, the array can have 0's for places not visited, and 1's for places visited, or 0's for open ...
8
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4answers
2k views
In EKF-SLAM, why do we even need odometry when there is a more reliable sensor?Also, are all SLAM algorithms feature-based?
In the book of SLAM for dummies, why do we even need the odometry when the robot would use the data retrieved from the laser scanner which is more accurate than odometry? Why not just rerly on the ...
