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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How to evaluate the location accuracy of a visual slam algorithm in an indoor enviorment without motion capture system?

I have a ground mobile robot with wheel for indoor applications and I want to develop a vSLAM algorithm for it. So one problem for me is how to know my modifications do really improve the performance ...
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43 views

EKF SLAM Prediction Step

My question relates to the prediction step in EKF SLAM when we get measurements. This is a question I've encountered while implementing EKF SLAM in ROS. At the beginning of the SLAM loop, we predict ...
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Setting An Initial Pose Rotation In ORB SLAM2

I am running ORB SLAM 2 on a drone with a downward facing, RGBD camera. I'm using Gazebo to simulate and Rviz to see the vision_pose ROS topic (the orientation/...
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What are the state-of-the-art variants of the basic ICP algorithm for point cloud registration?

The questions is quite straightforward. For the past few days I've been looking into point cloud registration. It looks like it all started with the basic ICP algorithm as described in P. J. Besl and ...
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How to get 2D map using Stereoscopic camer (RGB+D), IMU and GPS?

I am starting with slam using imu, stereo camera (that gives RGB + depth info) camera and gps mounted on my robot. I wish to create a 2D map for it like this: But with landmarks, so that I can stop ...
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Improvements over FastSLAM2.0

Are there some papers and/or works that describe improvements for the FastSLAM2.0 algorithm? I'm particularly interested in the following areas: The map is completely unknown at the beginning of the ...
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When a permutation matrix is desired for transforming camera frame to world frame?

When dealing with rectified images, why would the inverse of a simple permutation matrix $$P = {\begin{bmatrix} 0 & -1 & 0 \\ 0 & 0 & -1 \\ 1 & 0 & 0 \end{bmatrix}}^{-1}$$ ...
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How does isam compare with Gmapping and Hector?

I read about incremental smoothing and mapping (iSAM) first in the paper on hector_slam (a flexible and scalable SLAM system with full 3D motion estimation by Stefan Kohlbrecher et al) and then read ...
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Transforming a 3x3 Covariance Matrix to 2x2

Hello friends of the robotics, for Data Association I have the Robots cov matrix in a 3x3 Form, but the measurements and landmarks only in 2x2. I want to compute the Mahalanobis distance, so how ...
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89 views

Estimate noise covariance matrix of measurements using a ros-bag

I am facing the following issue, and some hint or orientation would be great. I am working on a project in which I was given a ROS bag, and I have to implement a localization node using SLAM. To do so,...
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Should I wrap the intrinsic and extrinsic parameters to a single vector during optimization?

I've read the libmv library dedicated to solving the bundle adjustment problem. The author states it's better to wrap the rotation and translation parameters into a single vector during optimization ...
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What does the normalized image coordinates imply?

In VSLAM or visual odometry, we use a camera matrix P to transform 3D scene points to 2D image points. When using homogeneous representation, we may choose the image coordinates as the normalized ...
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Can someone share with me some modern review paper about the filter-based SLAM?

I'm currently learning the Visual SLAM. But I'm also very curious about the modern filter-based SLAM. Can someone share with me some modern review papers about it?
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Vehicle Odometry Correction Using Lidar Contour Points (Localization)

I am currently working on a project where... Vehicle travels from point A to B GPS trajectory is used as a reference Vehicle odometry (bicycle model without slip angle beta) was used to estimate a ...
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Are there some papers or books that compactly elaborate the essential part of the multiple view geometry?

I am a novice to visual SLAM and computer vision. Recently I've read a paper "A micro Lie theory for state estimation in robotics" dedicated to introducing the essential part that necessary to ...
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Robot Localization - Motion and Sense Probability

I'm currently taking Udacity's AI for robotics course and came across a question that stumped me. The problem plays on localization probability given uncertainty in our measurement updates. The first ...
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Bundle Adjustment for Monocular SLAM

I am confused with how monocular BA works in visual-based SLAM. Is there any tutorials I can do in openCV to provide me some visualization aid? Thank You.
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Hector_Slam orientation probelm for drone

We are using Hector slam(2-D Mapping) for our drone in which we are facing some problems 1) as the orientation(axis) of the lidar changes the orientation of map changes 2) as the plane of the lidar ...
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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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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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79 views

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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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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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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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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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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Graph slam augmentation of Identity Matrix

I am trying to implement GraphSlam. I go through this paper http://robots.stanford.edu/papers/thrun.graphslam.pdf. I have some doubt about the algorithm. I attached a picture with this question My ...
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GraphSLAM data accumulation problem

I try to implement GraphSLAM from this tutorial, The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures. I have some doubt while studying this paper. I hope people who ...
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EKF based Slam implementation with landmark identification in Global frame

I am working on mobile Robotics. I want to implement Slam. I have a very specific question about EKF Slam. To implement Slam I read the book "Probabilistic Robotics". I read its online version. There ...
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SLAM Goal Babbling

I am struggling to find good links to the use of goal babbling in SLAM applications. Has this technique been used as a method for optimizing movement in a SLAM environment?
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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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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 ...

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