Questions tagged [sensor-fusion]
Sensor fusion is a process by which data from several different sensors are "fused" to compute something more than could be determined by any one sensor alone.
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What are some resources to learn Probability, Statistics and Stochastic Processes so I can understand Optimal State Estimation?
I went to grad school for Mechanical Engineering almost 7 years ago, where I avoided any probability/stats coursework like plague and stuck to linear algebra and differential equations for my math ...
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Fusing pressure/depth sensor/IMU for Nav2
Can I fuse a depth sensor or a pressure sensor's readings with imu to publish /odom (odometry) in Nav2 stack? I don't have wheel encoders in my robot, and I don't know what to use. Any resources?
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Finding North direction from magnetometer and accelerometer fusion
I was understanding accelerometer and gyro sensor fusion from this video. At time 3:56, Brian says:
To get north, we need to do some cross products. We can start with our measured mag (magnetometer) ...
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robot_localization package position output is the same as input absolute pose
Hello my question is whether this type of output is a proper output? I fuse absolute pose from slam and fuse linear velocity from wheel odometry, but the filter output position data is the same as the ...
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Understanding reprojection error / visual residual in ORB-SLAM3
I am trying to understand ORB-SLAM3 paper. It gives visual residual / reprojectio error equation as follows:
$$r_{ij}=u_{ij}-\prod(T_{CB}T^{-1}_i\oplus x_j)$$
where,
$r_{ij}$ is reprojection error ...
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Autoware.universe Zed2 Camera integration
I wonder if there is any way to configure zed2 stereo camera with autoware.universe humble version. 'https://autowarefoundation.github.io/autoware-documentation/main/' here is the documentation ...
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UM7 Orientation Sensor IMU not Publishing at 255 Hz. It is around 20-45 Hz, How to fix?
I really want to ask you about the UM7 Orientation Sensor we purchased. We want so much to use the UM7 in our research.
As it is mentioned on the Pololu website, the IMU transmits data using human-...
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Odometry jumping IMU/GPS fusion robot_localization
I am trying to fuse IMU and GPS with the help of robot_localization pkg. I might also fuse encoder data in the future. I get this weird jumping in odometry in rviz. I get that GPS is published every ...
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Differential Drive Controller 'enable_odom_tf: false' doesn't work
I have 2 wheels diff_drive robot that use diff_drive_controller from ros2_control,so this first work as diff_cont (diff_drive_controller name) publish transform from odom to base_link on /tf.
Now I ...
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Sensor fusion with ros2_control
I built 4 wheels robot that uses diff_driver_cont in ros2_control, the controller get encoders reading to calculate interface status and interface command.
later, I used robot_localization package to ...
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Estimating gyroscope bias for attitude IMU sensor fusion with an unscented Kalman filter
I'm trying to use a UKF as the attitude estimator for a drone with just a gyroscope and accelerometer as sensors. So far, it's going well and after some tuning appears to perform basically as well as ...
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Modeling EKF for localization of an Autonomous Mobile Robot
I've got an EKF for a simple two-wheeled mobile robot, whose states are the pose and the wheel's angular speeds.
I was wondering what were the advantages of having those last two states included ...
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Combining Multiple Sensor Data for Costmap Generation in NAV2
I am currently developing an off-road navigation system using NAV2 and various sensing modalities. Our setup includes two 3D Velodyne Lidars and a 2D SICK Lidar, each mounted at different orientations ...
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What is the most suitable sensor fusion filter for my application?
I am currently working on a hobby project involving a device that will be attached to a golf driver club. Its primary function is to continuously measure the angles (pitch, roll, yaw) throughout the ...
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External camera as SLAM sensor/input for navigation
Hi everyone!
If this question has been asked somewhere else, please point me there.
Consider the following challenge: onboard navigation is not accurate enough.
We'd like to enhance it using outboard ...
Theodoro Cardoso
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Odometry into EKF for localization
I want to fuse a Lidar-Odometry into my EKF where I'm already using encoder, IMU, GPS. The odometry has as output a delta pose, how to put that into the filter? How to deal with the covariances?
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Compensate tractor's (vehicle's) tilts in the GNSS-IMU based system
I have the following setup: a tractor with a dual band antenna (from ublox) installed on the vehicle's symmetry axis on the roof (h=3m), approx. 1m ahead of the center of the rear axis (which I ...
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The choice of using quaternions and using gyro & accel separately in EKF
I am working on realising the self-navigation of a vehicle.
I have already written an extended Kalman filter with a state vector using position, velocity, Euler angle, acceleration, and angular ...
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Do MEMS or optical gyroscope record Earth's rotational and revolutional angular velocities?
I am using a 3 axis gyroscope (Android device) to record angular velocities using a sensor data logger application.
When the device is placed stationary, the gyroscope recorded the following values:
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What should I use for a Visual+IMU+GPS fusion? A Madgwick or a Kalman?
I am new to robotics, and recently I am involving in a sensor fusion task using visual input (binocular at present), an IMU, and a GPS module. I have searched for related journal papers for a ...
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Mahony filter not converging/settling given idealized resting values
Here's my code sandbox of a quaternion mahony filter. I've backed into this as my copy & paste attempts to port this c code to python and get yaw on an esp32 were giving erratic results and I ...
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How to deal with asynchronous samples in a kalman filter framework multi-sensor fusion?
I have setup a sensor fusion problem to estimate a classical 2d position + orientation of a wheeled mobile robot in an embedded environment.
Sensor measurements include:
IMU (6axis accl+gyro) @ 40Hz
...
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accelerometer and gyroscope fusion using extended kalman filter
I'm working on my graduation project which is characterizing human body posture. I'm using IMU so I get measurements from the accelerometer and gyroscope and I'm wealing to fuse these two filters so I ...
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Rotate sensor frame to body frame
I'm working with a lsm303agr from ST. Here is the frame attached to the chip
Here is the body frame
So I have some doubts about the rotations, before to fuse data ...
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odom frame keeps moving in ROS GPS robot_localization
I am using two instances of ROS robot_localization package to get the local and global odometry. In the local one, I am fusing IMU and twist messages. It is working fine. But when I use the second ...
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Questions about sensor fusion with Lidar - Extended Kalman Filter
I am attempting to teach myself sensor fusion as I suspect I'll need to do this down the road with lidar and some other sensors. In all my research so far it sounds like a version of the extended ...
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Nonlinear continuous system function of IMU sensor fusion robot
For my robotics course I have to implement the nonlinear continuous system function for a mobile robot that is equipped with a GPS receiver and an IMU consisting of an accelerometer and a gyroscope. ...
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SLAM with multiple cameras and asynchronous sensors
I'm pretty sure this is the right place for this question, but if not, please point me in the right direction!
Basically, I would like to know how do SLAM using multiple cameras and sensors that are ...
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Will there be any interference when distance sensors facing each other?
I'm working a robot racing project using small RC toy cars on a premade track and a main goal for the robots to do is to be able to avoid hitting the wall and the racing opponents. Avoiding wall is no ...
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How to fuse IMU with encoders in EKF
Background
I have a car-like mobile robot (4 wheels, where the forward ones are steering wheels) and I want to estimate its pose and velocity assuming 2D planar motion. I'm trying to solve this ...
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Get rotation of IMU data snapshot
I received snippets of data of an IMU with 9 DoF in motion. For these I wanted to get their rotation by angles relative to the earth frame. My goal is to receive ...
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Include information on the environment in map-aware particle filter
I have a robot equipped with some sensors for estimating the movement in a 2D environment (IMU, odometer). The robot is free to move within an area delimited by some walls. The map of the environment (...
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IMU Senosr fusion algorithm of gyro and accelerometer during acceleration of vehicle
Hello so we have a car with 10 IMUs mounted at different locations of the car and the idea is the measure the centripetal force at each location of the car and compare it to each other. We also need ...
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Compensation of sudden impacts/shocks in adaptive AHRS sensor fusion algorithms
Background
I have a 9-DOF MEMS-IMU and trying to estimate the orientation (roll, pitch and yaw) in scenarios (e.g. car crash) where sudden shocks (mainly linear) lead to high external accelerations ...
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Why doesn't yaw angle return to its 0 state after rotations?
I'm using STM32F4 mcu with MPU6050 on it. I want to get very accurate yaw angle using gyroscope with Madgwick filter. I tried lots of things: with and without gyro thresholds, with and without ...
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Sensor fusion with extended Kalman filter for roll and pitch
I'm trying to implement an extended Kalman filter to fuse accelerometer and gyroscope data to estimate roll ($\phi$) and pitch ($\theta$). I've found a lot of kalman filter questions but couldn't find ...
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Merging multiple LIDARs real time
Is there a standard practice for merging the pointclouds generated by several LIDARs when there is overlap?
For example, if my vehicle has two LIDARS (front and back) I'd rather fuse and deal with a ...
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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/...
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Why does AHRS system with Madgwick filter has so big drift?
I have an MPU9250 on my PCB and I use an AHRS system with a Madgwick filter to get yaw angle. I want to get very accurate and non-drifting yaw angle, but, for unknown reasons, I can't.
I calibrated ...
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3D LiDAR synchronization with RGB Camera
There's a general procedure for estimating projection transformation between camera and 3d LiDAR but there's a secondary problem which is associating pixels with depths in a grid which isn't uniformly ...
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robot_pose_ekf won't publish any messages
I am having trouble getting the robot_pose_ekf package to publish messages. I launch it with this launch file.
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How to get odometry from propeller rotation signals knowing that they can rotate to maximum value?
m trying to get Velocity in order to control underwater swarm ROV. I can use the acceleration and to Euler integration but the error will be accumulated over time. As we are having a swarm (many small ...
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What would be a way to estimate IMU noise covariance matrix?
Weirdly enough, my robot platform which has an official ROS package supported by a manufacturer doesn't provide any covariance matrices of its sensors. So, I'm basically trying to estimate these ...
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Sensor fusion in a metal heavy environment
I am trying to get heading information of a forklift. I've designed a small PCB for this purpose. This PCB has a 3 axis magnetometer and a 6 axis gyroscope-accelerometer (Z- axis looking towards the ...
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Gazebo sensor plugins for barometric pressure Sensor with geometry_msgs/PointStamped?
Im doing some underwater UUV Gazebo simulation and would like to use the hector_pose_estimationhector_pose_estimation package to fuse IMU and Fluid pressure sensors input for pose estimation. But when ...
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EKF or KF package that fuse IMU and Pressure Sensros data for Velocity estimation?
Hi
Im looking for a ROS package (KF or UKF or EKF) that can fuse IMU and Pressure Sensors data. I would like to have 6x6 estimated Velocity matrices( linear and angular) from the IMU and Pressure ...
Astronaut
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Can a Madgwick IMU filter be used to determinate the tilt angle with respect to the horizontal plane
I am using a 3-axis accelerometer and a 3-axis gyroscope to estimate the tilte angle between the X axis of the IMU sensor and the ground (horizontal plane). My robot is stationary at power up, so I ...
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GPS+IMU sensor fusion not based on Kalman Filters
Do you know any papers on or implementations of GPS + IMU sensor fusion for localization that are not based on an EKF (Extended Kalman Filter) or UKF (Unscented Kalman Filter)?
I'm asking is because
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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 ...
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How to use knowledge of sensor noise
Reasoning about the meaning of uncertainty of sensor measurement I ran into a doubt:
(1) When we talk about sensor uncertainty, we often model it as a Gaussian distribution $\mathcal{N}(\boldsymbol{z},...
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