# Questions tagged [optimization]

The tag has no usage guidance.

18 questions
Filter by
Sorted by
Tagged with
32 views

### How to do path planning using only a fixed number of points?

I have a vehicle with cameras to detect different colored cones. I want to generate a drivable path based on the location of the detected cones.The number of detected cones varies, as it depends on ...
1 vote
118 views

### How to solve this basic dynamics/inverse kinematics problem

Suppose I have a 6-DOF robot arm with revolute joints whose tooltip is at some position $\bf{r_0}$ and I want to move it through some trajectory ${\bf r}(t)$. For simplicity, assume there are just 2 ...
• 156
1 vote
81 views

### Solving inverse kinematics with non-linear optimization libraries

Is it a good idea to solve inverse kinematics with non-linear optimization libraries such as Ceres? I've seen examples of Ceres being used to solve IK and it provides elegant, concise solution. But my ...
• 113
18 views

### How to find fundamental matrix based on other fundamental matrix and camera movement?

I am trying to speed up some multi-camera system that relies on calculation of fundamental matrices between each camera pair. Please notice the following is pseudocode. ...
• 101
374 views

### Difference between motion-only bundle adjustment and pose-graph optimization

I've been trying to figure out the difference between motion-only bundle adjustment and pose-graph optimization, when talking about systems that only use cameras to estimate motion between frames, but ...
• 111
38 views

### The Optimal Reduction Ratio

Hello everybody. For my robot design, I would like to utilize the most optimal gear ratio that I can use. For that I want to utilize the torque of my motor which is a linear function of rpm. This task ...
1 vote
129 views

### 3D Rigid Body Pose Optimization in flat euclidean space

I am confused about what is the best way to optimize the 3D pose of an object and the best way to parametrize the translation and rotation for optimization in flat euclidean space. Assume I have a ...
• 111
32 views

### Initial Solution Dynamic Optimization

Community, For mobile robot-trajectory planning i use dynamic optimization for a system with nonholonomic constraints and dynamics together with a cost function. This works somewhat well, howewer the ...
• 1
169 views

### Nonlinear Sensor Fusion with Space-Time Finite Element and Static Condensation?

I have recently implemented an algorithm for the nonlinear fusion of GNSS, barometer, magnetometer, accelerometer and gyroscope data. The algorithm is based on a space-time finite element where the ...
• 31
1 vote
127 views

• 125
72 views

### Design optimization method using indices

There are several methods like manipulability and conditioning index for design optimization kinematics performance, but these methods rely on the singular values of the jacobian matrix. I described ...
• 11
1 vote
139 views

### What is the concepts of submaps in LIDAR based graph slam algorithms?

I have been reading some slam papers recently and many of the papers mention building and performing scan matching on submaps instead of individual poses. Does it mean that a submap is just a single ...
• 71