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Questions tagged [pose]

Pose is a typical task is to identify specific objects in a space and to determine each object's position and orientation relative to some coordinate system.

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Advantages of full BA vs Pose Graph

Generally to reduce computational load, you can forgo full BA and do pose graph optimization with loop closure. Local odometery is still calculated from sensor input(IMU, Visual etc) but the landmark ...
FourierFlux's user avatar
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Create self-contained standalone ROS1 application for Windows

I created a ROS Noetic package that grabs data from some cameras and performs pose estimation of objects in the field of view (using OpenCV). Simultaneously, IMU data is measured and fused with these ...
masteryoda436's user avatar
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How to Calculate the Correct Orientation (rx, ry, rz) When Rotating a Pose Around an Axis in 3D Space in Python

I created a function to compute the rotated pose around a given rotation axis. Here is my code: ...
Carlos's user avatar
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How to transform the detected target pose into the pose in the camera coordinate system in Gazebo

that is my code ...
chan mlen's user avatar
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15 views

Feasibility: Pointcloud-Mesh Registration to determine unknown transforms?

Hello friends, I have a series of timestamped 2D laserscan cross sections from a mobile robot driving from one end of a straight pipe to another. The robot travels roughly around the same speed, but ...
emi's user avatar
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Using Image Stitching for X,Y Pose Estimation in Quadrotor Navigation: Feasibility and Limitations

I'm exploring the feasibility of inferring the x, y pose of robots without direct positional data but utilizing image stitching. Here's the scenario: I have multiple drones equipped with downward-...
hunterlineage's user avatar
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11 views

Selecting frames from video for surface extraction using feature matching

I have a video of an object sitting on an ArUco board. I am currently using ArUco markers to estimate camera transformation and knowing camera intrinsics assessing F. I use BRISK and FLANN to match ...
Odeaxcsh's user avatar
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1 answer
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Pose matrices and robotics 2D movement

I have a robot starting from the origin. It first turns 90 degrees (yaw), then move to (5,10), then it starts to move along its own negative x direction at each step with a translation of 1. Here is ...
Nick X Tsui's user avatar
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283 views

How to publish pose of the lidar/camera/(or any dynamic/static model) in gazebo fortress?

I am trying publish the pose of the camera and view it in rviz2. I am using ros2 Humble and gazebo fortress. I can see the image using the image topic but i am not able to visualize the topic in the ...
Hem92j's user avatar
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2 answers
628 views

How to put ArUco markers in Gazebo Classic

The title says it all. I would like to test my robot's ArUco recognition and processing abilities by putting some markers around environments in classic Gazebo. All the tutorials I see online seem to ...
stephan's user avatar
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Pose Graph SLAM Frontend and Backend confusion

I have confusion about constructing the graph for pose graph SLAM. What I understood, there are two types of edges (i.e. constraints): Edge/Constraint between two consecutive poses Edge/Constraint ...
Cluv's user avatar
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Issues with Goal Pose Setting using SLAM in Nav2 Stack for GPS-based Navigation

I am currently working on a GPS-based navigation solution to send latitude and longitude (converted to odom local coordinate system by navsat_transform_node) as a goal pose and use the Nav2 stack to ...
Marcus Vinicius's user avatar
1 vote
1 answer
541 views

Conversion of roll, pitch and yaw from ENU to NED

I have roll, pitch and yaw values in an ENU frame. How can I convert it into a NED frame?
Abhishek Yadav's user avatar
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1 answer
112 views

What link move_group get current pose refers to?

I have a Techman robot arm and I write a python script to read the current pose (pos : xyz, quar:xyzw) but I don't know if it's the base or end effector link that the position corresponds to. Anyone ...
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2 answers
25 views

How to calculate pose given a start point and end point?

Lets say I have two points(co-ordinates) defined with respect to a frame. If I can starting and ending point of the pair we can get direction similar to how arrow marker works in rviz. Is there anyway ...
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1 answer
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Get a rotation to align a vector, n with another vector, a and be able to rotate around a

Let us say I have a rigid body, B. Let us say I have a normal vector n. And let us say I have another direction vector a. I need ...
OlorinIstari's user avatar
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1 answer
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How to prove expression for relative pose in one frame given relative pose in another frame

Given the poseo of point 1 between $t_k$ and $t_{k+1}$ \begin{equation} \mathbf{P}_{1}\left(t_{k}, t_{k+1}\right)=\left[\begin{array}{cc} \mathbf{R}_{1}\left(t_{k}, t_{k+1}\right) & \mathbf{T}_{1}\...
rielt12's user avatar
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1 answer
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How to go about programming Robot Arm with 3D point

I have a 6 DOF robot arm that I am programming. I want to be able to move the arm's claw to a 3D point in space. In order to do that, it needs to know the best combination of movements that will take ...
X Builder's user avatar
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1 answer
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IMU sensor coordinates for EKF

Hi, I am using ekf to fuse multiple IMU. I was reading this portion ...
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1 answer
101 views

6D pose estimation of a known 3D CAD object [closed]

I'm looking for a codebase for 6DOF pose estimation of a known 3D CAD object with RGB or RGBD. It must be: -Usable commercially (licensed under BSD, MIT, BOOST, etc.), not GPL. -Easy to setup and use (...
Rexcirus's user avatar
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Analytical solution to inverse kinematics of 5 dof robot arm

the followings are the equations I worked out for the inverse kinematics of a 5 dofs robotic arm. First of all, the kinematic diagram: For the joint angles $q_{2}, q_{3}$ and $q_{4}$ I resorted to ...
newby_prog's user avatar
1 vote
1 answer
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Manually generate antipodal grasps for grasping

I am getting into robot manipulation using parallel grippers, and am learning about it, and programming grasping different objects. I have the 3D model of the objects I wish to grasp. The next step is ...
OlorinIstari's user avatar
1 vote
1 answer
186 views

Incorporating motion model in Graph Slam and Bundle adjustment

When doing global bundle adjustment how does one incorporate a motion model or IMU information? Does it simply impose a cost function in relation to how far away the expected location is of the robot ...
FourierFlux's user avatar
2 votes
2 answers
960 views

Difference between odometry and localization wrt determining robot's pose?

AFAIK, localization is used to determine a robot's pose from a given a map and sensor data. I know of statistical localization approaches which use particle filters to determine a robot's location ...
Speedracer1702's user avatar
2 votes
0 answers
69 views

Monocular SLAM position estimation

I have been reading about mono SLAM and I have a couple questions which are not so clear: When doing pose estimation, I have seen people both reference homography transformation and also reference 5\...
FourierFlux's user avatar
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1 answer
21 views

Why" The origin for the sensor at is out of map bounds" warning after configuring roboot_localization

Hi all, I added an IMU to improve odometery and used robot_localozation to fuze odom and IMU data. I speficied the initial pose in ekf configs but my robot wont get its initial pose on the map ...
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-1 votes
1 answer
63 views

VR: is it possible to calculate hand position relative to head based off these known orientations and lengths?

If we have 3, 9DoF IMUs for absolute orientation data on the: wrist upper arm forehead and we know the length of the: wrist upper arm shoulder to base of neck neck and we also know the global ...
Ietpt123's user avatar
1 vote
0 answers
170 views

Looking for benchmarks on Apriltag pose estimation

we want to know if we can use Apriltags in our project for pose estimation in rather long distances and on moving target. Specifically, correcting errors of an IMU device on an autonomous vehicle. I ...
Hakan Ergin's user avatar
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1 answer
47 views

How to convert a Pose to PyKDL Frame in python (and vice versa)

In ROS1 I used tf_conversions.posemath, toMsg and fromMsg. I'm porting my code to ROS2 and ...
user avatar
1 vote
1 answer
62 views

Covariance of fused poses. Should it be normalised by the number of poses?

I came across this paper from T. Barfoot and P. Furgale: "Associating Uncertainty With Three-Dimensional Poses for Use in Estimation Problems" Link: http://ncfrn.mcgill.ca/members/pubs/...
mcamurri's user avatar
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1 answer
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how to creating fake Pose

Hello, I am trying to pubuilsh a fake pose in code. I checked the message rules and put the desired value and executed it, but the following error occurs in the subscriber. May i know what mistake i ...
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38 views

TF broken in Hector Pose Estimation when fusing IMU and Pressure Sensor, frames are not correct and pose also not correct

Im doing some underwater UUV Gazebo simulation and would like to use the hector_pose_estimation package to fuse IMU and Fluid pressure sensors input for pose estimation. In the gazebo launch file I ...
bob's user avatar
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1 vote
2 answers
378 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 ...
NMme's user avatar
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2 answers
636 views

Number of diagonal elements in the pose covariance matrix

The control.yaml file inside the husky_gazebo package defines the value of the ...
skpro19's user avatar
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1 vote
1 answer
102 views

How to calculate extrinsic calibration of a non-overlapping multicamera rig?

thanks for taking the time to check my question. Firstly, let me describe the current configuration, I am using 4 cameras that produce non-overlapping images and the goal is to calculate their ...
mkr's user avatar
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0 votes
1 answer
2k 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, \...
Federico Taschin's user avatar
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1 answer
16 views

Empty frame_id in `geometry_msgs/PoseStamped`

I am working on a problem where rosbag files are the benchmarking datasets provided by an external research group. I would like to visualize the 6-DoF pose of the robot which is in the bag. ...
user avatar
3 votes
1 answer
554 views

What is the difference between a Bayes Net and a Factor Graph

I am just getting started on understanding Factor Graphs, by going through the excellent guide Factor Graph For Robot Perception by Dallaert and Kaess While I am familiar with the SLAM problem, and ...
OlorinIstari's user avatar
1 vote
1 answer
1k views

Is easier to detect a large or a small marker? (Aruco / Apriltags)

I need to detect Aruco/Apriltags markers and perform pose estimation, but I've no particular constraint on their physical size. I'm not talking about the number of square (e.g. 4x4, 6x6, etc.), but of ...
Rexcirus's user avatar
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1 vote
1 answer
168 views

given current position and Quaternion and target local rotations (α, β, γ, in radians), how to calculate the new Quaternion

Say we have an object (e.g., end-effector of a robot) that is defined in a general coordinate system by a Cartesian position and Quaternion. since the Quaternion is with respect to a general and fixed ...
Alejandro's user avatar
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1 answer
399 views

Error in Pose(): All values are zero for turtlesim/Pose

Here is the program I have written. The function is to make the turtlesim complete one revolution, with a fixed angular velocity and speed. ...
cent's user avatar
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1 vote
0 answers
25 views

Getting the new heading after a Transformation

Lets say I have 2d poses as such (angles in degrees): world_to_robot = {0, 4, 45} robot_to_object = {4, -4, -45} From a graph it would be easy to see that: world_to_object = {4, 8, theta}, what goes ...
notARobot's user avatar
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36 views

Self localization inside machine of interest

I have a type of flight sensor interfaced with Arduino Uno via I2C. The sensor is VL53L0X i am getting the 1D measurement value of distance in mm which i can monitor using serial monitor in Arduino ...
Ahmed's user avatar
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0 votes
2 answers
94 views

increase/change mavros local_position pose publish frequency

How do I increase or change the mavros/local_position/pose publishing frequency? (Default only 30Hz) Originally posted by noob_ros on ROS Answers with karma: 21 on 2020-09-11 Post score: 0
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1 answer
214 views

How can I calibrate 3 cameras without knowing global pose of the object & camera locations? How can I find the pose of each camera wrt the first one?

I have camera feed (in the form of RGB images) from 3 cameras with partially overlapping Field-of-view i.e. for the time stamp 0 to 100, I have total 300 frames or say synchronized 100 RGB frames for ...
Raj's user avatar
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1 answer
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Covnert geometry_msg/StampedPoint to Stamped pose

Hi guys. I'm trying to convert point to pose. But i don't know how to do. I saw topic_tool package, but the only example is about stg_msgs. I can't find parameteres that i need. :( And i also saw '...
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185 views

IMU Vision Fusion using EKF

I am trying to track an object indoors using an IMU (only accel and gyroscope) and a visual marker. This is similar to IMU+GPS fusion, where GPS is effectively replaced by the position that my vision ...
OlorinIstari's user avatar
2 votes
2 answers
502 views

How do you handle angle discontinuities in estimation problems?

When one is implementing a state estimator in a system that involves kinematics, will inevitably face the problem of angle discontinuities, i.e., the fact that the angles have to be wrapped between ...
D Dim's user avatar
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1 vote
1 answer
119 views

Reset coordinate system of robot while maintaining relationship to the previous

I am currently estimating a robot's pose (3d position and rotation matrix) with an IMU and I want to reset the localizer in the middle of the run while keeping the relationship to the pose it had when ...
Damuno's user avatar
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1 vote
1 answer
53 views

Dual constraint non-linear optimization for SLAM

I am trying to achieve a nonlinear optimization for SLAM on a function that contains two different constraints, like this : $$ T_{opt} = \underset{T}{\arg\min} \sum_i(\left\lVert T.X_i - x_i \right\...
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