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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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 ...
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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 ...
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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 ...
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767 views

Using gmapping without ROS?

Is gmapping on OpenSLAM.org still maintained? Or is the maintenance entirely over in ROS ( https://github.com/ros-perception/slam_gmapping/tree/hydro-devel/gmapping ). When trying to compile gmapping ...
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Integrating GPS into Graph SLAM (how orientation fixed?)

I'm working on Graph SLAM to estimate robot poses (x, y, z, roll, pitch, yaw). Now I want to integrate GPS measurement (x, y, z, of course no angles). I implemented GPS as pose's prior. But I have a ...
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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 ...
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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 ...
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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), ...
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How does fast slam creates grid maps?

I've implemented fast slam using landmark detection and the map stored is a feature map, made of landmarks positions. I would like to create a grid map, and my questions are about how does the robot ...
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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. ...
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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 ...
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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 ...
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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 ...
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1answer
992 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 (...
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1answer
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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 ...
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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 ...
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3answers
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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 ...
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2answers
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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 ...
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Typical laser scanner noise values

I am building an application that executes graphSLAM using datasets recorded in a simulated environment. The dataset has been produced in MRPT using the GridMapNavSimul application. To simulate the ...
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1answer
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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 ...
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308 views

Triangulation from calibrated stereo rig

I am using a stereo rig to do SLAM, calibrated using the MATLAB Calibration Tool. I need to compute the 2D coordinates of a landmark using the observation model obtained from triangulation (the images ...
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580 views

SLAM - odometry motion model

I am making a project with a 4 wheeled differential robot to make visual SLAM using a stereo rig. I have some encoders to measure de displacement and the steering angle of the robot and I want to use ...
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6answers
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What does Simultaneous Localization And Mapping (SLAM) software do?

I took a course to have a better understanding of drones and their design. At the end of the course there was a test question that I got wrong and I would like to understand why. I was supposed to ...
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3answers
943 views

Build a simple robot to learn ROS [closed]

I am a beginner to ROS and I wanted to know if I could build a simple robot to learn ROS. I currently have the following components available: Arduino Uno Simple two wheeled robot chassis Some ...
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1answer
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Is there an algorithm using the Kinect depth image (not the point cloud) for registration?

I know given the intrinsics fx, fy, cx, cy (where fx, fy are the horizontal and vertical focal length, and ...
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Need help in implementing EKF based SLAM

I just started learning about slam and I have been trying to simulate a robot moving around a set of landmarks for the past 3 days. The landmarks have known correspondences. My problem is, if I add ...
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1answer
935 views

Calculate the uncertainty of a 6-dof pose for graph-based SLAM

This question is strongly related to my other question over here. I am estimating 6-DOF poses $x_{i}$ of a trajectory using a graph-based SLAM approach. The estimation is based on 6-DOF ...
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6answers
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What's the difference between the term “pose estimation” and “visual odometry”?

I'm reading a paper: Choi C, Trevor A J B, Christensen H I. RGB-D edge detection and edge-based registration[C]//Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on....
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2answers
960 views

How do I evaluate the minimum requirements of the processor and camera for a visual SLAM robot?

I would like to build a visual SLAM robot (just for self-learning purpose) but I get frustrated how I know which processor and camera should be used for visual SLAM. First, for the processor, I have ...
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1answer
365 views

Autonomous Indoor Positioning System Robot based on CV approach

I have some questions regarding an IPS autonomous robot system, Configuration: Mounting a camera to the ceiling of a room Assume the room is a cube of 5mx5mx5m (LxWxH) Assume the camera is ...
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1answer
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Pose-Graph-SLAM: How to create edges if only IMU-odometry is given?

I want to estimate the poses of a vehicle at certain key frames. The only sensor information I can use is from an IMU which yields translational acceleration and orientation measurments. I obtain a 7D ...
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2answers
169 views

Slam Odometer Requirement

How accurate must my odometer reading be for SLAM ? I am writing this extra section because it says my question body does not meet the quality standard.
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Real-time object classification for an indoor autonomous quad-rotor

I am designing an indoor autonomous drone. I am currently writing an object classification program in OpenCV for this purpose. My objects of interests for classification are: ceiling fans; AC units; ...
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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 ...
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1answer
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Understanding Drift in Simultaneous Localization and Mapping (SLAM)

I am trying to understand the effect of drift in Simultaneous Localization and Mapping (SLAM). My understanding is that drift occurs because the robot tracks its position relative to a set of ...
2
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1answer
130 views

EKF SLAM (prediction of new landmarks)

Prediction of new landmarks are commonly expressed as: Xm = Xr + r*cos(phi + theta_r), Ym = Yr + r*sin(phi + theta_r) However this is only true ...
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1answer
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How to compute the error function in graph SLAM for 3D poses?

Given a pose $x_i = (t_i, q_i)$ with translation vector $t_i$ and rotation quaternion $q_i$ and a transform between poses $x_i$ and $x_j$ as $z_{ij} = (t_{ij}, q_{ij})$ I want to compute the error ...
3
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1answer
265 views

Is there an alternative to manifolds when using quaternions for orientation representation in Pose Graph SLAM?

I want to implement my own pose graph SLAM following [1]. Since my vehicle is moving in 3D-space i represent my pose using a 3D-translation vector and a quaternion for orientation. [1] tells me that ...
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3answers
250 views

In the SLAM for Dummies, why are there extra variables in the Jacobian Matricies?

I am reading SLAM for Dummies, which you can find on Google, or at this link: SLAM for Dummies - A Tutorial Approach to Simultaneous Localization and Mapping. They do some differentiation of matrices ...
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SLAM : Why is marginalization the same as schur's complement?

Consider the system $$ \tag 1 H\delta x=-g $$ where $H$ and $g$ are the Hessian and gradient of some cost function $f$ of the form $f(x)=e(x)^Te(x)$. The function $e(x)=z-\hat{z}(x)$ is an error ...
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2answers
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FastSlam 2.0 Implementation?

I have studied Claus Brenner's lectures on how to implement the FastSLAM 1.0 algorithm, where each particle maintains the robot pose, and maintains EKF's of the landmarks. However, I'd like to ...
4
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1answer
272 views

In order to integrate MCL and Occupancy Grid to implement Grid-based FastSLAM, do you have to record all data?

It's unclear as to how one goes about integrating Occupancy Grid mapping and Monte Carlo localization to implement SLAM. Assuming Mapping is one process, Localization is another process, and some ...
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1answer
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Modelling Point Clouds for Collision Detection in Gazebo

I am currently applying path planning to my robotic arm (in Gazebo) and have chosen to use an RRT. In order to detect points of collision, I was thinking of getting a Point Cloud from a Kinect ...
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3answers
496 views

What are the approaches for indoor robot positioning? [closed]

I understand that most of the self-driving cars solutions are based on Lidar and video SLAM. But what about robots reserved for indoor usage? Like robot vacuums and industrial AGVs? I see that Lidar ...
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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 ...
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1answer
194 views

EKF-SLAM: Shrink covariance matrix on one direction

I have implemented an EKF on a mobile robot (x,y,theta coordinates), but now I've a problem. When I detect a landmark, I would like to correct my estimate only on a defined direction. As an example, ...
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1answer
207 views

Using SLAM to create 2D topography

I have a small mobile robot with a LidarLite laser range finder attached to a servo. As of now I have the range finder side-sweeping in a 30 degree arc, taking continuous distance readings to the side ...
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1answer
1k views

Covariance and optimization

I am trying to build a map containing lamps as landmarks. I drive around with a robot and a monocular camera looking to the ceiling. The first step is detect the edges of each observed rectangular ...
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193 views

indoor positioning system: which is better? [closed]

Which method is better, in term of accuracy, for detection of indoor localization of a drone. Camera based system or wireless techniques like WLAN or Bluetooth?
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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 ...

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