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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4
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3answers
2k views

Is there any advantage to velocity motion models over odometry motion models for SLAM?

I've seen several examples of SLAM algorithms (EKF SLAM, Graph SLAM, SEIF SLAM) written in terms of the velocity motion model. I have yet to see an example of any SLAM algorithm utilizing the ...
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1answer
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What is the best way to fuse measurements from IMU, LIDAR, and Encoder information in some recursive bayesian filter?

I am doing SLAM with a four wheeled (2-wheel drive) differential drive robot driving through some hall way. The hallway is not flat everywhere. And the robot turns by spinning in place, then traveling ...
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2answers
361 views

How can I achieve long distance, high quality 3D Scans on a mobile robot?

Am going to be competing in Robocup Rescue in Thailand next year - I was too busy to pull off a campaign for Brazil this year :( Will be using CUDA powered GPUs, Kinect/Xtions, and ROS as the primary ...
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191 views

Slam and Vision (good resources)? [closed]

I would like to know if there is a good source that combines Slam problem with vision. From mathematical perspective, there are numerous resources that handle SLAM ,however, I didn't find a good ...
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1answer
281 views

Does Monte Carlo Localization need a predefined map?

So I'm doing some reading on Monte Carlo Localization, and it sounds like the approach is based on using a predefined map, but I just need to make sure (because I haven't read anywhere that it ...
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1answer
169 views

In SLAM, how does a laser range finder produce pseudo-segments from dynamic objects?

In this paper, the author says that during SLAM process, pseudo segments that appear from any momentary pause of dynamic objects in laser data would make the map unsatisfied. How is this caused? ...
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1answer
730 views

How do SLAM algorithms handle a changing environment?

I'm doing some groundwork for a project, and I have a question about the current state of SLAM techniques. When a SLAM-equipped device detects an object, that object's position is stored. If you look ...
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5answers
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3D Mapping from a quadcopter with KINECT [closed]

I have a quadcopter robot that has a KINECT on it and i want to do 3D mapping with it. Is KINECT reliable on a moving robot (i.e., can it give me stable images and maps with this movement)? Is there ...
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How can I improve the map in my Mobile Autonomous Robot using KINECT

A little background of my aim I am in the process of building a mobile autonomous robot which must navigate around an unknown area, must avoid obstacles and receive speech input to do various tasks. ...
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2answers
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The relationship between point cloud maps and graph maps

I am most familiar with SLAM maps that are point clouds, usually in the form of a vector like $<x,y,\theta,f_{1x},f_{1y},...,f_{nx},f_{ny}>$. I also understand how to create a map like this ...
6
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1answer
582 views

Comparing maps to groundtruth

When you've created a map with a SLAM implementation and you have some groundtruth data, what is the best way to determine the accuracy of that map? My first thought is to use the Euclidean ...
10
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1answer
325 views

Least squares map joining

There is a lot of background here, scroll to the bottom for the question I am trying out the map joining algorithm described in How Far is SLAM From a Linear Least Squares Problem; specifically, ...
7
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1answer
777 views

Noise in motion and measurement models

When using an EKF for SLAM, I often see the motion and measurement models being described as having some noise term. This makes sense to me if you're doing a simulation, where you need to add noise ...
10
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1answer
446 views

Who coined (or popularized) the term “SLAM”?

According to Wikipedia's article on SLAM, the original idea came from Randal Smith and Peter Cheeseman (On the Estimation and Representation of Spatial Uncertainty [PDF]) in 1986, and was refined by ...
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Is an accelerometer sufficient to detect displacement, or do I need an INS?

Do I need a complex system (of gyros, accelerometers etc.) to detect if a robot has moved forward or can I simply use an accelerometer. I'm building a robot that learns to walk and I need to detect ...
9
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3answers
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What algorithm can I use for constructing a map of an explored area using a number of ultrasound sensors?

Ultrasound sensors are incredibly cheap these days which makes them a popular choice for many hobbyist robotic applications, and I'd like to use a bunch of them (say 10) around a robot with an ...
8
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5answers
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How computationally powerful is an Arduino Uno board?

What can an Arduino board such as the Uno really do? Of course simple things like controlling a couple servos is very easy for it. However, I don't think an Uno board would be able to preform real-...
4
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1answer
157 views

IPC-Bridge problem

Is anyone able to help me out getting IPC-bridge working on my ubuntu lucid installation (with matlab 2012a)? I'm not being able to finish the last step on here (Compiling the messages folders): https:...

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