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Questions tagged [slam]

SLAM (Simultaneous Localization And Mapping) refers to a robot building a map of its environment through it's sensor data (mapping) and keeping track of its own position in that map (localization) at the same time.

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Ceiling Camera & robot - SLAM still neded?

I've got a question regarding the topic of SLAM. My composition consists of a mobile robot and a top down looking 2D camera with wide-angle lens. It is comparable to a survaillance camera mounted on ...
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Is SLAM done only first time in a given environment

I am training Turtlebot 2 to move around the office. I come from robotics hardware background but relatively new to computer vision and robotic mapping. Here are my two fundamental questions related ...
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How does scan matching find overlapping regions in two scans?

I have been reading about scan matching and so far I have gathered that scan matching tries to find the transformation (rotation and translation) which leads to the best match between overlapping ...
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Google Cartographer: bag validation detects gaps in LIDAR messages

I'm using google cartographer to do SLAM, and I'm experiencing some accuracy issues, in particular my map rotates and gets distorted when the robot rotates. I run ...
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Make robot drive as far from obstacles as possible

I am trying to make robot drive around the room, avoiding obstacles with pathfinding. The problem is I get few waypoints from pathfinding algorithm for robot to drive to (green dots), but it drive a ...
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How to handle landmarks in Bundle Adjustment?

At the moment I try to understand Bundle Adjustment on a level to be able to implement it on my own. The major point I'm still confused at is the management of the landmarks. So, let's think of a few ...
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What's the difference between Pose Measurement and Position Measurement?

I have read a robotic related paper called Estimating SE(3) elements using a dual quaternion based linear Kalman filter, and the author proposed that the equation of position measurement is denoted as:...
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How to obtain live vertical height values using LIDAR

I plan to control the flying height of my drone using a LIDAR (in real-time). Therefore, I would be attaching the LIDAR to my UAV, pointing vertically downwards. However, after looking at some of the ...
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Feasibility of SLAM with heterogeneous sensors

Why are there so few published implementations of SLAM with support for heterogeneous sensors? Heterogeneous sensors include LIDAR, monocular cameras, stereo cameras, thermal sensors from more than ...
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Are there any Algorithms/Papers about 3D Mapping the Interior of Buildings using Computer Vision and IMU Data?

I was wondering if it would be possible to do something like this: Vision-based Autonomous Navigation and Mapping with a Small Quadrotor without using lidar/lasers. I have tried ORB-SLAM, but the ...
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Usage of Falkolib(OpenSLAM) for 2D lidar landmark extraction

I am using Falkolib for landmark extraction in a 2D environment. Currently I am using the testKeypointOC executable from the bin directory. I have changed the testKeypointOC.cpp file and the ...
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Robot localization including the orientation of the boundary

Consider a SLAM system for a mobile robot that is able not only to predict the position wrt the map boundary but also to measure the orientation of the boundary once it is reached. If the measured ...
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Integrating Arduino Cloud Platform into ROS

I have an existing ROS framework used for an autonomous driving vehicle. I am working on tests to understand how localization is affected by light. My existing hardware does not have a lux measurement ...
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What is the difference between SLAM and cooperative localization?

I need to ask this simple question for my own understanding. I am new to the field and want to differentiate between the two.
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Teaching AMCL and SLAM

In trying to explain these important concepts and algorithms it would be super useful to have a video or animation that illustrates through simulation the underlying math. All the videos and articles ...
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IMU + odometer SLAM techniques without vision and depth

Consider a mobile robot provided with a contact sensor that randomly travels in a closed environment, changing direction every time an obstacle is encountered. Is it possible to reconstruct the 2D map ...
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SLAM techniques based on contact, odometry and one front camera

Consider a mobile robot provided with a contact sensor that randomly travels in a closed environment, changing direction every time an obstacle is encountered. Is it possible to reconstruct the 2D map ...
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Trying to make a map with gmapping but Rviz shows nothing

I'm trying to visualize and create a map using a Lidar and Rviz. I have a Lidar that publishes the LaserScan data on /scan and that is visible in Rviz. That is working fine. I also have installed ...
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Fusion multiple LaserScans to PointCloud

I am currently trying to do 3D SLAM with two 2D Lidars and possibly additional IMU in ROS. However, there seems to be no ROS package available to meet my needs. The closest one would be laser_pipeline ...
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Localize a Mobile Robot on a Mirror

I am currently busy with a project which requires me to construct a robot capable of cleaning a heliostat (movable mirror used to redirect sunlight). Heliostats are basically large flat mirrors that ...
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Odometry heading and laser scan heading not point to same direction

please help, after so much research still cant find a single solution from google. some say offset, but there is no offset in the configuration. problem: odom direction and laser scan heading didnt ...
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Is it to possible to measure a room exact with rplidar?

I want to measure a room using rp3+, rplidar, ROS and SLAM. It should be easy possible to create mapping of the room. But how exact it would be? Is it possible to get less than 1 cm precision over ...
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48 views

How to plot the 3D camera trajectory from a VSLAM output

I am totally new to VSLAM algorithms and would want to plot the path followed by the moving camera. I am using the open source implementation of ORB_SLAM2 for a rgb-d camera on benchmark dataset. The ...
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Depth images with undetectable outlines

I'm trying to capture depth images with a RGBD camera, but all of the images have undetectable outlines around objects: Is this expected from RGBD cameras or is mine a dud? It's an Astra Pro.
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TUM RGBD SLAM dataset file format inconsistency?

I'm looking at the TUM dataset and wonder why the depth images and the file formats appear to be inconsistent. According to the file formats: The depth images are scaled by a factor of 5000, i.e.,...
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SLAM and navigation

I have a question about SLAM. Is it common for SLAM to be used for mere map generation? For instance, have a map generated using ORB-SLAM and then freeze the map for future path planning where future ...
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Variables that Improve SLAM

I have a general question regarding SLAM as I am not an expert on the topic. What are the variables that can improve map generation? The ones I can think of are: A higher resolution camera ...
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47 views

Data structure to store a robot map

I'm studying robotics at the university and I have to implement on my own SLAM algorithm. To do it I will use ROS, Gazebo and C++. I have a doubt about what data structure I have to use to store the ...
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44 views

Plot a map using wheel encoder and IMU data

I want to plot a map( with matplotlib or any other library ) using a wheel encoder and IMU data. Eg:- For every 10cm robot moves it should draw line (in a graph) and draw angles depending on the data ...
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ORB-SLAM pose estimation

I've been reading about ORB-SLAM and ORB-SLAM2, but I can't quite figure out how pose estimation is done. I see that it uses a bag-of-word method for loop detection, but how are current features ...
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How does sensor fusion related to SLAM

How does sensor fusion affect the slam process?, if we have stereo camera with GPS and Imu, how does sensor fusion benefit the SLAM? Do we use sensor fusion to enhance localization phase of SLAM, and ...
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what is ultrasonic based slam

i am confused about SLAM implementation, and i need your advise to organize my mind. Fist let me say that i have to generate 2D map, what is in this case the SLAM input? is it like (x1,y1),(x2,y2)...(...
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In SLAM loop closure, What does a sim3 matrix do?

I am confused between 3D rigid affine(with scale, without shear) transformation and Lie group's sim(3) matrix. 3D affine would be [sR|t; 0 1]. we rotate, scale and then translate a 3D point using ...
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Relative quaternion to global with uncertainty

in this perfect tutorial i found how i can compose two poses with uncertainty and how i can transform one representation to another with uncertainty http://ingmec.ual.es/~jlblanco/papers/...
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Do self-driving robots use object-level SLAM?

How do self-driving bots usually deal with transient objects, e.g., parked cars on the side of roads when they can come and go? These aren't moving objects at the time of capture, but they do move at ...
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How to understand the coordinate systems of IMU outputs in the KITTI raw data?

I am learning how to use the raw data of the KITTI data set. The raw data means that KITTI provides its raw sensor outputs. I focus that the IMU raw outputs (accelerations and angular rates) are shown ...
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Error term formulation in Graph SLAM (conceptual doubt)

I am reading A Tutorial on Graph-Based SLAM.Grisetti, Kummerle, Stachniss & Burgard On page 5, the error function is introduced as follows $$e_{ij}(x_i, x_j) = z_{ij} - \hat{z}_{ij}(xi, xj)$$ ...
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How to derive the Time-Update equation of SLAM

I was going through the tutorial on SLAM by Hugh Durrant-Whyte and Tim Bailey† and found this Time-Update equation (equation 4 in the paper): $ P\left(\mathrm{x}_{k},\mathrm{m} | \mathrm{Z}_{0:...
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Effect of platform speed (how fast it is moving) on the quality of SLAM

I want to know how big of on an impact does the speed of the platform on which your sensors are mounted have on the quality of the outcome of a SLAM solution. Are there are any methods that are better ...
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Is it possible to implement VSLAM on Arduino?

If not, then which microcontroller will be suitable?
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Custom Image and Depth map in ROS RTAB mapper

I read about RTAB package which builds 3D point clouds based on optical odometry. This fulfills my requirement, which will be clear by the end. The issue is, I don't have a Kinect camera. What I have ...
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Hunt for fast plane extraction algorithms from sparse map points

My input was a set of sparse 3D map points(landmarks) maintained by SLAM algorithm, z-axis of the world frame permanently points to the negative direction of the ...
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64 views

EKF SLAM : SLAM specific Jacobians for new landmarks

I am currently trying to understand the books SLAM for dummies and Simulataneous localization and mapping with the extended Kalman filter to implement slam. I have understood steps 1 and 2 SLAM for ...
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g2o Graph optimisation, What edge to use for a distance constraint?

//cross posted from stackoverflow. If that is not ok, I will delete! I have an optimisation problem that I am trying to solve with g2o I have a data set which is N noisy Poses (XYZ), and known (less ...
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EKF SLAM : Missing older landmarks in new observation

I am a beginner to SLAM and robotics in general and I have been trying to implement SLAM on my GoPiGo3 robot car kit using primarily Chapter 10 from Probabilistic Robotics by Sebastian Thrun as ...
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185 views

how to implement autonomous navigation using lidar and hector?

I want to make an autonomous mobile robot, which can localise itself and navigate to the goal in an unknown environment. As sensor, i just have a RPLidar to get laser scan, that's it. I used Hector ...
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I have to implement my own SLAM algorithm [closed]

I'm studying robotics and one practice that I have to do is to implement my own SLAM system on ROS. I need some advice about where to start. Where do I start?
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Looking for Beginners Tutorials on Navigation Stack and SLAM with Gazebo

As an undergrad working with SLAM algorithms, I'm looking for a step-by-step introduction to ROS navigation stack and gazebo. I am thinking of creating a simple box with a horizontal LiDAR array ...
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EKF SLAM without iterative update on observations

In Dr. Stachniss's lecture on EKF SLAM, he describes a non-iterative update method for EKF SLAM. How is this done? Can anyone explicate or provide a source on this?
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Do I need a camera along with LIDAR for SLAM?

Equipment: Pi 3 B Mega 2x Encoder Motor 12VDC 299RPM MPU 6050 12V bat 2000mAh LIDAR or Kinect ? I want to implement EKF SLAM. I have referred bot NOX ROS wandering robot, Hussarian CORE and Robotics ...