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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8
votes
5answers
14k views

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-...
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2answers
617 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?
16
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2answers
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EKF-SLAM Update step, Kalman Gain becomes singular

I'm using an EKF for SLAM and I'm having some problem with the update step. I'm getting a warning that K is singular, rcond evaluates to ...
12
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 ...
4
votes
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:...
14
votes
3answers
559 views

How to determine quality of ICP matches?

In SLAM frontends which use the Iterative Closest Point (ICP) algorithm for identifying the association between two matching point clouds, how can you determine if the algorithm is stuck in a local ...
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 ...
9
votes
3answers
2k views

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 ...

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