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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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 ...
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159 views

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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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 ...
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72 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 ...
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132 views

How to get RPY(Roll, Pitch, Yaw) from directional cosines from a single vector?

I'm trying to find the pose of an 3D vector in terms of RPY. Let's say the two end points of the vector is P0(x0, y0, z0) and P1(x1, y1, z1). So the centered vector I get is V(Vx, Vy, Vz) = P1 - P0 = (...
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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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124 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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15 views

What's the difference between optimizing a pose graph only once as opposed to optimizing a pose graph whenever loop closures are found?

I am trying to optimize a pose-graph generated through visual odometry with loop closure constraints. I wanted to know if there are any particular situations where optimizing the graph only once is ...
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24 views

Cartographer: What determines how many nodes are added to a trajectory?

I'm testing cartographer using the Deutsches Museum public bag. I'm trying different Lua settings and checking how it affects the mapping process, etc. What I notice is that, no matter what ...
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10 views

Orientation Movement Primitives for Imitation Learning

Can Movement Primitives be used to model the orientation (or pose) of a robotic arm end effector? In literature (see for instance this imitation learning review at pag.69) it's common to see DMP (...
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1answer
132 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. ...
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32 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 ...
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42 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 ...
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219 views

two wheel mobile robot odometry

I am using an encoder to calculate the position and orientation of a mobile robot. The robot has two-wheel and each wheel is attached with an encoder, the result I am getting for my position x,y and ...
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27 views

Two Link Manipulator End Effector Position

My professor described the end effector position as $q_{e} = \begin{bmatrix} x_e \\y_e\end{bmatrix} = \begin{bmatrix} l_1 cos(\alpha_1) + l_2cos(\alpha_1 + \alpha_2) \\ l_1 sin(\alpha_1) + l_2sin(\...