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17 votes

Why do people use camera instead of laser sensor for robot navigation?

A 3D laser range finder or LIDAR such as the one on the Google Car is far more expensive than a camera. The other reason is that while in case of a LIDAR the distance of every pixel is available, the ...
Bence Kaulics's user avatar
6 votes

What is the definition of the contents of PointCloud2?

I get why you are confused. Looking at the definition of PointCloud2, you see that the field that holds the "actual" point cloud data is a 1-dimensional array. Now,...
robotsfoundme's user avatar
5 votes
Accepted

Are there any advantages to using a LIDAR for SLAM vs a standard RGB camera?

My question: are there cases where you'd still need a LIDAR or can this expensive sensor be replaced with a standard camera? ... A each one of them has its advantages/disadvantages. Thus in some ...
AL-ROBOT's user avatar
  • 319
5 votes

Do multiple LIDAR systems in same area interfere?

Based on two different company's sensors for use in autonomous cars - yes they do interfere. And honestly, I am not sure what is going to happen when you have 30 cars in an intersection, the noise ...
user20737's user avatar
4 votes

Why do people use camera instead of laser sensor for robot navigation?

In addition to those points in Bence's answer, cameras can: Calculate many complex features that result in very robust matching between frames, and object recognition High angular resolution (typical ...
Gouda's user avatar
  • 902
4 votes

How does 3D Lidar work?

Lidar, sonar, and radar all work generally the same: Emit a pulse. For radar, this means briefly energizing an antenna. For sonar, it means briefly energizing a sound transducer/speaker. For lider, ...
Chuck's user avatar
  • 16k
4 votes

What is the definition of the contents of PointCloud2?

I totally agree that the documentation is poor and it took me quite some time to understand what is going on. I recorded a rosbag for "velodyne_points" topic using a Velodyne VLP-16. The ...
beluga's user avatar
  • 41
3 votes
Accepted

Iterative Closest Point for 2-D LIDAR Data

You can use 3D feature descriptors here to register two point clouds. I've personally used two most recent ones that performed well enough for a similar application. Following are the references to ...
quartzfun's user avatar
  • 163
3 votes

Why do people use camera instead of laser sensor for robot navigation?

navigation in urban environments Depending on the laser, there might be legal constraints on where you can use it. Running around town throwing laser rays around might require special permission/...
Bending Unit 22's user avatar
3 votes
Accepted

Do multiple LIDAR systems in same area interfere?

One could use lasers with slightly different wave length - just as different channels for Wi-Fi signal. Also there could be used some kind of wave modulation... but I don't think LIDARs use such ...
Szczepan's user avatar
  • 450
3 votes

How to cope with an optical window limitation on 2D LiDAR?

The answer by @nathangeorge1 is valid for the case of not hitting the legs of the chair. However, you are faced with limited sensor input. This is the case for most robots, even people need to turn ...
Karl Damkjær Hansen's user avatar
3 votes

How come LIDAR is not commonly used for indoor navigation?

I think LiDAR is common for indoor navigation. Definitely, LiDAR is the easiest and accurate solution for indoor navigation or SLAM. Many commercial robot vacuums are already in use of LiDAR for ...
Chanoh Park's user avatar
  • 1,577
3 votes

Data collected from ROS

As Ben noticed, you may want to elaborate on your question, but in general data collection in ROS is performed using tools from the rosbag package. As you'll find when you read the documentation, ...
xperroni's user avatar
  • 1,363
3 votes

Extract laser scan from a map and known location

You can do it manually with a protractor and straight edge - put the center of your protractor on the scanner center, align your protractor's zero-angle mark to the scanner zero, then mark off ticks ...
Chuck's user avatar
  • 16k
3 votes

Transform problem with rviz map display when using the SLAMTEC Mapper M2M2 with ROS

No transform from [/slamware_map] to [slamware_map]. I'm not familiar with Slamware in particular, but I can tell you what the error means. RViz is trying to display data that has a ...
jtbandes's user avatar
  • 216
3 votes
Accepted

Sensors in ROS2 without driver

If there is an API or a device protocol specification available, then it would be possible to develop your own driver for the hardware. This is how all existing drivers for ROS 2 have started. ...
mjcarroll's user avatar
  • 1,781
2 votes

Determining position from a 2D map and LIDAR

I just wanted add on to both user12895 and AL-ROBOT's answers. Based on experience: What you need is an (Iterative Point Cloud) ICP algorithm. Do not worry, if the robot cannot detect the entire ...
JJerome's user avatar
  • 183
2 votes

Determining position from a 2D map and LIDAR

1- Of course you don't have perfect matches 2- ICP is not used for localization, it is used to calculate the transformation the robot's pose has undergone (T+R) 3- To localize your robot, you would ...
AL-ROBOT's user avatar
  • 319
2 votes

Lidar problems in a multi-robot setup

I wouldn't recommend using sensors with different laser frequencies either, because that likely means using an entirely different product, with different accuracy and other properties. don't tilt, ...
Bending Unit 22's user avatar
2 votes

Why do people use camera instead of laser sensor for robot navigation?

Like other already answered. Cameras typically are much cheaper than Laser Range Finders. When you talk about camera you mean the 2D cameras isn't it? There are some 3D cameras like the ifm O3D3xx ...
graugans's user avatar
2 votes

Resources for object detection with 2D Laser Scanner (planar only)

I think you can divide your problem into two subproblems: 1) Partition your 2D scan into segments/clusters which represent single objects. A basic algorithm could be: Start at first laser reading ...
Eric Dörheit's user avatar
2 votes
Accepted

Multiple Line Estimation

You can start by using split-and-merge segmentation algorithm. There are many algorithms available A Comparison of Line Extraction Algorithms using 2D Laser Rangefinder for Indoor Mobile Robotics. ...
nayab's user avatar
  • 384
2 votes

Is this SLAM performance typical or am I doing something wrong?

Your lidar has a minimum range for 12 cm, which means your maze corridors should probably be double that range (for either side of the sensor), plus the width of the sensor itself, which is 9.5 cm. ...
Chuck's user avatar
  • 16k
2 votes

What wavelengths are most commonly used in laser-scanners and LIDAR systems?

You are correct. Most Velodyne LIDARs (very commonly used on autonomous vehicles), use 905 nm diode lasers, and so do many Hokuyo laser scanners and SICK LIDARs. A new company, Ouster, uses 850 nm ...
HighVoltage's user avatar
  • 1,106
2 votes
Accepted

What wavelengths are most commonly used in laser-scanners and LIDAR systems?

Both 1550nm and 900nm ranges are used in different lidars. Velodyne and majority others use 905nm lasers because these diodes are really cheap. 1550nm are used when there is a need for very long ...
tony.h's user avatar
  • 76
2 votes
Accepted

Likelihood Field Matching

Basically, you are comparing the measurements of your scan with your previously computed map. You compare all your scans (line 2) for a certain time step that are not range_max (line 3). You compute ...
Guille Sanchez's user avatar
2 votes

ROS Laser Scan rotates with the robot in RVIZ

Behavior like this suggests that your odometry is not being computed properly when the vehicle turns. It's hard to tell but the model appears to have rotated about 90 degrees but the laser scans ...
Tully's user avatar
  • 25.1k
2 votes

Res-Scaling method beats PID controller. How?

How is the (P) controller not standing up to its task ? Well, just like you said - how is it not standing up to its task? What is it doing that makes you think it's not working? You said, I tried ...
Chuck's user avatar
  • 16k

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