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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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Camera pose to world coordinate transformation

I have managed to receive camera_pose for ORB-SLAM by following their code. If I run $ echo /world /camera_pose I receive something like this: ...
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1answer
73 views

smooth robot 3D trajectory using graph optimization

I want to solve a trajectory smoothing problem using graph optimization. I have asked questions on how to solve this problem in a previous post and got directed towards using graph optimization. I ...
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3answers
111 views

smoothing the robot poses inbetween two known poses

I have a set of N robot poses between point A and B. I use a global localization technique to estimate poses at point A and B. As a result, I have a new corrected pose B'. Please see the figure below. ...
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2answers
46 views

Is pose estimation using images necessary in visual-inertial SLAM

In visual SLAM, pose estimation is performed between two adjacent frames or keyframes using feature detection and pose estitmation from corresponding features. However in visual-inertial SLAM, pose ...
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0answers
57 views

How to apply Kalman filter in this case?

I have some straight and curve pieces with numbers, they are used to build tracks (of $5$ lanes) for my cars (figure $1$), I can send commands to the cars using an SDK on the Raspberry (set the speed ...
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0answers
77 views

How to properly initialize every new pose in a Visual SLAM algorithm (namely DSO)?

My question is a bit specific, because it is linked to a certain algorithm. Therefore I didn't find any other solutions on how to go about this problem. If you could refer me to research papers, ...
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3answers
81 views

How to detect writing on a chalkboard? [closed]

I've got an idea for a simple robot (with an Arduino or something similar) that will play noughts-and-crosses (aka tic-tac-toe) on a chalkboard, so that kids can play against it. It will use a couple ...
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1answer
68 views

Perspective N point solution: Position drifting linearly with rotation angles?

I am using a PNP algorithm to compute the rotation and translation of a camera given pre-mapped 3D points, and their corresponding projections on the 2D plane. The algorithm I am using is the one ...
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1answer
610 views

How many AR markers should I use to get the object pose?

I'd like to get the object pose based on the attached AR marker to the object. I believe I only need one tag to get the 6D pose. However, I sometimes see more than one AR markers are used in the ...
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2answers
155 views

What is the difference between object pose estimation and object tracking?

In papers the terms object pose estimation and object tracking are used side by side with different meanings. Can somebody explain me the difference?
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1answer
734 views

Which is the best visual fiducial marker (2D barcode)?

Which is the best visual fiducial marker (2D barcode) for detection and robust and accurate pose estimation? Im not looking for a fiducial marker which can store lot of information. The main goal is ...
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2answers
441 views

Full 3D Pose (Scale, Rotation and Translation) Estimation using Gyro and Acceleromter sensors fusion

I am implementing a 3D pose estimation algoriothm on mobile device (Android) which has Gyro, Accelerometer and Magnetometer sensors. I have already develeoped a Visual SLAM algoirthm to estimate full ...
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0answers
97 views

Help with fusing multiple measurements with known covariances

I am working on an estimation application for multiple robots, each of which uses measurements from various sources to calculate position and orientation data. For now, I am looking at about three ...
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1answer
1k views

Resources for object detection with 2D Laser Scanner (planar only)

Would you happen to know some good books, tutorials or articles on how to detect objects and their poses, using 2D laser scanners? My goal is to equip a mobile robot with a laser scanner for object ...
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3answers
1k views

Integrating GPS into Graph SLAM (how orientation fixed?)

I'm working on Graph SLAM to estimate robot poses (x, y, z, roll, pitch, yaw). Now I want to integrate GPS measurement (x, y, z, of course no angles). I implemented GPS as pose's prior. But I have a ...
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5answers
4k views

What's the difference between the term “pose estimation” and “visual odometry”?

I'm reading a paper: Choi C, Trevor A J B, Christensen H I. RGB-D edge detection and edge-based registration[C]//Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on....
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1answer
44 views

Step size in numerical differentiation

I get position information and a corresponding timestamp from a motion tracking system (for a rigid body) at 120 Hz. The position is in sub-millimeter precision, but I'm not too sure about the time ...
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1answer
165 views

Choosing the state vector for an EKF

Could someone help me understand the logic behind choosing a particular state space vector for an EKF? Context: Say there is a 4 wheeled robot that operates only in 2D. It is equipped with an ...
3
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1answer
225 views

Is there an alternative to manifolds when using quaternions for orientation representation in Pose Graph SLAM?

I want to implement my own pose graph SLAM following [1]. Since my vehicle is moving in 3D-space i represent my pose using a 3D-translation vector and a quaternion for orientation. [1] tells me that ...
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1answer
2k views

How do I go about implementing a Kalman Filter for a pose estimation algorithm?

I am currently in the process of writing a pose estimation algorithm using image data. I receive images at 30 fps, and for every image, my program computes the x,y,z and roll, pitch, yaw of the camera ...
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2answers
4k views

Determining pose from ar_track_alvar message in ROS

I am using the ar_track_alvar package in Indigo to detect AR Tags and determine their respective poses. I am able to run the tracker successfully as I can visualize the markers in RViz. I give the ...
2
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1answer
315 views

Kalman filter for estimating position with “direction” measurements

I am currently working on a pose estimation problem for which I would like to use filtering. To explain the system briefly, it consists of two cameras and each has its own GPS/IMU module. The main ...
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1answer
252 views

Pose estimation, how to populate set of known edges and points?

I am building an estimator that solves for the camera pose relative to a reference frame which contains a known set of features and edges. Currently, the system works with an unscented kalman filter ...
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1answer
3k views

Open source implementations of EKF for 6D pose esimation

I am looking for open source implementations of an EKF for 6D pose estimation (Inertial Navigation System) using at minimum an IMU (accelerometer, gyroscope) + absolute position (or pose) sensor. ...
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1answer
76 views

What's a good pose estimation method for high precision (<5mm per-axis) solutions at short range (<50cm)?

I'm trying to get a 6DOF pose solution for an object that'll be between 10 and 50 cm from a fixed point. I want to avoid putting too much special hardware on the object, but extra hardware on the ...
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1answer
225 views

Resampling attitude states (quaternions, rotation matrix) in a Particle Filter

Suppose I have a particle filter which contains an attitude state (we'll use a unit quaternion from the body to the earth frame for this discussion) $\mathbf{q}_b^e$. What methods should or should ...