4 votes

Pose-Graph-SLAM: How to create edges if only IMU-odometry is given?

First off, it doesn't sound like you're actually doing SLAM. You didn't mention an exteroceptive sensor (e.g., laser, camera) that actually maps the environment. With just an IMU, you are doing ...
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  • 950
3 votes

How to deal with Gaussian Errors, which don't have a mean value of 0?

I don't know if this is mathematically sound or not, but it's given me good results in practice. What I've done in this situation personally, when I expect/know that there is a bias, is to include the ...
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  • 14.7k
2 votes
Accepted

joint compatibility branch and bound (JCBB) data association implementation

Suppose you have three measurements (1, 2, and 3) and four landmarks (a, b, c, d). The joint compatibility is a measure of how well a subset of the measurements associates with a subset of the ...
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  • 950
1 vote
Accepted

Data association with ekf?

The value $S^k$ (innovation variance) needs to be calculated for all landmarks, but the subsequent update steps (post line 16 --- after argmax), need be applied to all of the map, given the landmark ...
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1 vote
Accepted

How to perform active search in point feature based monoSLAM?

This is not the answer of your question but ORB is a feature detection algorithm. Feature detection and tracking are different. Once you found a feature it is better to track them by a feature ...
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  • 1,375
1 vote

provide world map for ekf global localization problem

In EKF slam generally we include landmarks which can be marked as points: Corners, columns, trees etc. The uncertainties for landmarks are calculated by assuming that those are point landmarks. (1) ...
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1 vote
Accepted

EKF localization data association

It should be processed features. Extracting features from raw data is usually called as front-end in SLAM. The easiest forms of features in cased of 2D LiDAR are corners, edges, and lines. You can run ...
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  • 1,375
1 vote

Do robots usually have databases?

Absolutely - there are many of uses for SQL in robotics. SQL and databases allow for structured storage, analysis, and retrieval of data, both by the robot and other parties. Robots are constantly ...
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1 vote
Accepted

Do robots usually have databases?

Databases are important for robots to store information... ...about itself: Where was I when I was turned off How is my hardware configuration (e.g. intrinsic calibration for cameras) How warm was ...
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  • 1,335

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