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.

Filter by
Sorted by
Tagged with
1
vote
3answers
1k views

Which sensors will best suited for indoor/outdoor SLAM system with high accuracy of localization? [closed]

We need a SLAM system for mobile platform which will be used in on-site construction. We are to build a 3D map from clouds of points and need localization in it. We don’t need fast localization, but ...
0
votes
2answers
2k views

Calculating the covariance matrix of a measurement

I want to estimate the covariance matrix of a measurement for a robot evolving on plane and having the following state vector. $$ X = \begin{bmatrix} x\\ y\\ \theta \end{bmatrix} $$ $x$ and $y$ are ...
3
votes
4answers
4k views

3D mapping using only a 2D Lidar

How can I map a 3D environment using only a 2D lidar? The lidar would be hand held and it would have 6 DoF. So if I move it in arbitrary motion in all 6DoF, I expect my algorithm to generate a 3D map ...
13
votes
4answers
5k views

How to obtain dense point clouds from stereo cameras?

I am trying to use a stereo camera for scene reconstruction, but I can usually only obtain sparse point clouds (i.e. over half the image does not have any proper depth information). I realize that ...
2
votes
1answer
128 views

Once matching features are computed between a stereo pair, how can they be tracked?

I am currently working on a SLAM-like application using a variable baseline stereo rig. Assuming I'm trying to perform visual SLAM using a stereo camera, my initialization routine would involve ...
3
votes
2answers
620 views

Using an IMU to build an INS

What's needed to utilize an IMU such as the ArduIMU+ V3 to be used in an INS. Is there any other hardware needed?
1
vote
1answer
242 views

Methods for odometry/IMU/Gyro free lidar pointcloud registration for pose estimation

I am currently trying to register a pointcloud in time to find my change in position and heading at each timestep (High speed application). So this is essentially an implementation of SLAM. I am ...
2
votes
0answers
103 views

Monocular SLAM depth reconstruction

I am trying to derive the inverse depth equation used in monocular SLAM algorithms. Specifically the equation 8 of the ORB SLAM paper I am very close, except I do not understand where the (u_j-c) ...
0
votes
1answer
388 views

Questions about SLAM: bundle adjustment, covariance etc

I have been recently studying about the SLAM family of algorithms, with the idea of implementing some for a multi-robot framework I have. With regards to the concept, I have a couple of related ...
1
vote
0answers
110 views

Camera calibration sequence with ground truth data

I'm looking for a SLAM dataset (monocular or stereo) specifically with a checkerboard, meaning the camera always has a checkerboard in frame. Most popular datasets provide calibration sequences, ...
4
votes
1answer
49 views

In the SLAM for dummies what is z-h in updating X?

In SLAM for Dummies there is on page 40 this formula: $X = X+K(z-h)$ What is $z-h$ in updating $X$?
0
votes
2answers
690 views

How would i implement position and heading readings into my SLAM system?

I am trying to build a low-cost SLAM system with an MPU-6050 and GY-271 (magnetometer). Currently, i have a robot with an Arduino that collects the sensor data and a Raspberry Pi that (hopefully) will ...
1
vote
1answer
353 views

How can we estimate the likelihood field for a particular scan in probabilistic terms?

I am trying to implement a scan matcher using Scan based sensor model but I cant figure out how to estimate likelihood for a particular scan. Is there any implementation available ? Would be thankful ...
3
votes
2answers
917 views

ROS + SLAM + kinect. which platform to use?

I am doing a project where I've robot which will be using kinect + ROS for Simultaneous Localization and Mapping. Which board should I use? I've heard that Raspberry pi , beaglebone are not sufficient....
1
vote
0answers
166 views

EKF based SLAM, marginalization and key-frames

I have a couple of tightly related questions regarding EKF-based visual SLAM. It is common in the Kalman based VSLAM litterature to marginalize 3d points and past poses. Condsidering the EKF as a ...
0
votes
1answer
95 views

Do i really need an AHRS for 2D maps?

I am currently making a 2 wheeled SLAM robot that will use an array of either ultrasonic or sharp IR sensors with a particle filter. I also have a MPU-6050 and GY-271 and i am looking to turn it into ...
1
vote
0answers
138 views

Kalman filter localisation equations

I am doing mobile robot localisation as a project. Now I stuck in obtaining the equations of EKF localisation. My robot moves straight for 10 seconds parallel to x-axis and robot equipped with 2 ...
0
votes
2answers
1k views

SLAM system for LIDAR and Stereo camera for cone detection for Autonomous driving

The purpose of the SLAM system is very specific, for detecting cones in an image and triangulate their position to create a map. The data input would be the camera data, odometry and the LIDAR data. I ...
0
votes
1answer
20 views

Can we specify the working zone for the robot using SLAM approach for navigation?

I am using SLAM for the autonomous vehicle navigation. I want to the specify the working zone for the vehicle before the start of navigation, or can we restrict the working zone of the vehicle using ...
1
vote
1answer
343 views

Why the IMU measurements only accumulate drift in 4DOF

I'm studying the Technical Report of VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator available at: https://github.com/HKUST-Aerial-Robotics/VINS-Mono/blob/master/...
1
vote
1answer
267 views

What is the intuitive explanation of using Jacobian of observation model while calculating Kalman gain in EKF SLAM?

The idea of using Kalman gain in EKF SLAM is to figure out how much we trust our motion model and sensor/observation model. As explained in The Extended Kalman Filter: An Interactive Tutorial for Non-...
0
votes
1answer
125 views

Why EKF-SLAM uses EKF instead of linear Kalman Filter?

I am writing a bachelor's diploma on vSLAM. I learned and programmed EKF-SLAM like it's written in MonoSLAM paper, and I was going to write, that I can't use KF and have to use EKF because of non-...
4
votes
1answer
133 views

Suggestion for relevant non-complex simulator

I've recently started working on some localization algorithms like probabilistic road map and SLAM algorithms. What I'm looking for is a software that would help me in simulation for such algorithms. ...
5
votes
3answers
930 views

How can I implement tremaux algo in arduino line follower to navigate and create map?

The Map1 The task is divided into 2 runs, In first run, We have to navigate through whole map and reach the end mark taking all checkpoints. In second run, using the mapping from first run we have to ...
13
votes
2answers
7k views

Difference between Rao-Blackwellized particle filters and regular ones

From what I've read so far, it seems that a Rao-Blackwellized particle filter is just a normal particle filter used after marginalizing a variable from: $$p(r_t,s_t | y^t)$$ I'm not really sure ...
2
votes
1answer
1k views

Landmark extraction algorithm

The landmarks are often used in SLAM. What are the algorithms used to extract them, and how can a robot differentiate the landmarks, if they detect one in point A at Xt and another in Xt+1? How can ...
0
votes
2answers
1k views

using range-only sensors for mapping in SLAM

SLAM noob here but trying to implement an algorithm that fuses odometry data and mapping based on wifi signal strengths for a 2D robot. 1) After various readings of different resources, I came across ...
2
votes
1answer
491 views

Regarding Pose Graph Slam using Lidar

So I'm trying to incorporate pose graph optimization into a mapping framework using a Lidar. So I basically have all the relative transformations between the pointclouds and I have pairs of ...
1
vote
1answer
366 views

Pose-graph-slam:using only a camera

I'd like to know how to form my pose graph if the only information I have available is that from a camera, (1) What are my poses? Are they just the accumulated transformations from pairwise matching? ...
1
vote
2answers
363 views

Can i use a predictive kalman filter to 'increase' my sample rate?

I have a slam algorithm that outputs at around 30Hz, an implementation of ORBSLAM2. https://github.com/raulmur/ORB_SLAM2 I am reading this into a renderer that expects 60+ Hz. Because my sample ...
1
vote
0answers
195 views

Scaling monocular SLAM with another source?

I have implemented a stable monocular slam tracking system, based on ORBSLAM2. I am trying to find a way to add real-world distance/scale to this. At the same time, I am running a (less stable) ...
6
votes
1answer
2k views

SLAM: Why use two cameras (stereo) if SLAM can be done using single camera (monocular)?

I am aware that algorithm for monocular SLAM is complex compared to stereo SLAM. But my question is if by any means it is possible to do SLAM using one camera why one should use two cameras to do the ...
2
votes
0answers
251 views

Visual SLAM for wheeled robot

I would appreciate your help for choosing the appropriate real-time SLAM algorithm. I am interested in having autonomous robot, thus a SLAM component is needed for autonomous navigation. The ...
2
votes
1answer
306 views

SLAM without data association?

I would like to build 2D EKF-SLAM in openGL. I've implemented the entire virtual environment in which there is a robot that moves in 2D and there are some landmarks(feature-based map). I have the ...
5
votes
2answers
416 views

SLAM for Autonomous car

I am working on SLAM for autonomous car like vehicles with 2D lasers and IMU (deriving odometry). I would like to know how efficient is using the existing SLAM algorithms (for example: gmapping in ...
5
votes
2answers
3k views

How to use SLAM with simple sensors

What 2D SLAM implementations (preferably included in ROS) can be used with simple distance sensors like IR or ultrasonic rangefinders? I have a small mobile platform equipped with three forward ...
3
votes
2answers
281 views

Having a hard time understanding this equation in monocular EKF SLAM

Reading this paper on visual odometry, where they have used a bearing vector to parameterize the features. I am having a hard time understanding what the state propagation equation for the bearing ...
2
votes
1answer
245 views

Covariance Check?

I have a localization data estimated and GPS_truth and generated [3x3] covariance matrix along with them. What i would like to do is to see if the covariance is correct or not? Can we check it by ...
2
votes
1answer
55 views

Orthogonal projection of laserscanner data

I recently discovered this ROS-package: http://wiki.ros.org/laser_ortho_projector . Which is basically exactly what I need. However I am not using ROS, so I need to do what is been done in this ...
0
votes
1answer
813 views

How to implement a particle filter when sensors can't identify landmarks?

I'm attempting to build a robot that leverages a particle filter to identify where it is relative to a map that is known. The robot only has IR sensors, so while it is able to determine its distance ...
0
votes
2answers
103 views

Hi i am working on this project regarding localization of a mobile robot using laser scanner and odometry ( encoder sensors) using labview [closed]

I have a Sick laser scanner LMS 100 attached with my robot which scans the environment. Data acquistion is already done for the laser scanner and now Encoder sensor attached on the wheel gives the ...
1
vote
1answer
106 views

In vision based localization, is it possible to make multiple vehicles cooperate to improve the estimation of each other?

I am currently working on a project that involves structure from motion using multiple cameras on multiple aerial vehicles (each vehicle has a monocular camera: think of it as a distributed stereo), ...
6
votes
1answer
6k views

Are there any advantages to using a LIDAR for SLAM vs a standard RGB camera?

I've been thinking about building a small UAV with an onboard LIDAR, just for fun. I'm interested in SLAM and autonomous flight indoors and thought that I would need a lidar to get a 3D map of the ...
1
vote
0answers
548 views

Calculate input parameters of CTRV model

I am using Constant Turn Rate and Veloctity (CTRV) model to predict the position of the vehicle.The CTRV model assumes a circular path between two consecutive time steps of the car as depicted in the ...
5
votes
1answer
994 views

LIDAR Points as Landmarks

I am currently trying to implement a GraphSLAM/SAM algorithm for LIDAR. From papers I've read, you generate a directed graph from expected LIDAR measurements to landmarks similar to the image below (...
8
votes
4answers
2k views

In EKF-SLAM, why do we even need odometry when there is a more reliable sensor?Also, are all SLAM algorithms feature-based?

In the book of SLAM for dummies, why do we even need the odometry when the robot would use the data retrieved from the laser scanner which is more accurate than odometry? Why not just rerly on the ...
1
vote
3answers
410 views

Can mapping be done in real life applications without also solving the localization problem at the same time (i.e. SLAM)?

I know that Occupancy Grid Mapping requires the assumption that the robots' pose is always known when generating a map. However, I also know that in reality, position and orientation usually treated ...
3
votes
2answers
2k views

Understanding and correct drift when using BreezySLAM (aka tinySLAM / CoreSLAM)

I was looking for a Python implementation of SLAM and stumbled upon BreezySLAM which implements tinySLAM aka CoreSLAM. My robot is equipped with the hokuyo urg-04lx-ug01. I have odometry hence ...
23
votes
8answers
15k views

Absolute positioning without GPS

Using an IMU a robot can estimate its current position relative to its starting position, but this incurs error over time. GPS is especially useful for providing position information not biased by ...
6
votes
3answers
4k views

Difference between SLAM and “3D reconstruction”?

I'm reading this paper: http://arxiv.org/abs/1310.2053 (The role of RGB-D benchmark datasets: an overview) and see the following words: Thanks to accurate depth data, currently published papers ...

1
3 4
5
6 7