# Tag Info

## Hot answers tagged slam

Accepted

### What is inverse depth (in odometry) and why would I use it?

Features like the sun and clouds and other things that are very far off would have a distance estimate of inf. This can cause a lot of problems. To get around it, the inverse of the distance is ...
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### Difference between Rao-Blackwellized particle filters and regular ones

The Rao-Blackwellized Particle Filter (RBPF) as you say in your question performs a marginalization of the probability distribution of your state space. The particle filter uses sampling to ...
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### What is inverse depth (in odometry) and why would I use it?

The inverse depth parameterisation represents a landmark's distance, d, from the camera exactly as it says, as proportional to 1/d within the estimation algorithm. The rational behind the approach is ...
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### What does Simultaneous Localization And Mapping (SLAM) software do?

Localization is the process of estimating the pose of the robot the environment. Number 5 in your list. Mapping is estimating the position of features in the environment. Number 1. 2, 3, and 4 are ...
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### What is the difference between SAM and SLAM?

SLAM is the process of locating oneself in a totally unknown environment where you are simultaneously mapping your environment and plotting your position in that environment. SAM is a technique used ...
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### 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 ...
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### Difference between SLAM and Localization

Localization is always done with respect to a map. SLAM(Simultaneous Localization and Mapping). As it is in the name, also does localization with respect to a map. The only difference is that the ...
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### Is there any advantage to velocity motion models over odometry motion models for SLAM?

I can't think of a reason why a velocity model (based on control commands) would be superior to an odometry model (which uses the actual wheel speeds). The lecture notes from Freiburg on motion ...
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### Absolute positioning without GPS

I know this is an old question but I will just add a bit to the currently existing answers. First, this is a very complex problem that everyone is trying to tackle, including google with their Tango ...

### What is inverse depth (in odometry) and why would I use it?

Davison's paper introducing the method is easy enough to understand: Inverse Depth Parametrization for Monocular SLAM by Javier Civera, Andrew J. Davison, and J. M. Martınez Montiel DOI: 10.1109/TRO....

### Hector SLAM, Matching algorithm

Imagine someone put you in a wheelchair and blindfolded you, then let you reach your arm out and touch a wall. You could tell how far away the wall was, but as long as you were pushed parallel to the ...
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### How to use SLAM with simple sensors

The actual implementation of SLAM won't care about whether you are using high fidelity laser range finders or cheaper ultrasonic sensors. Both are providing range measurements with the biggest ...
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### FastSlam 2.0 Implementation?

I suggest you to give a look to Sebastian Thrun's work here. In fastSLAM (both 1.0 and 2.0) each particle maintains an array which contains the states of the landmarks as well as the robot's states. ...
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### SLAM : Why is marginalization the same as schur's complement?

See the walk-through The Schur complement helps with the closed form derivation but isn't necessary. It's just a nice convenient property of Gaussians and the covariance matrices. In these papers,...
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### Understanding Drift in Simultaneous Localization and Mapping (SLAM)

Your intuition is mostly correct. Returning to where you started and re-observing landmarks you mapped earlier is called closing the loop in the SLAM literature. As you mentioned, your uncertainty ...
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### 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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### What's the difference between the term "pose estimation" and "visual odometry"?

It is also often the case that the author lacks knowledge, makes mistakes, or is adding unnecessary statements to their work. Just because it is published does not make it true. In this case though, ...
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### Difference between SLAM and "3D reconstruction"?

You are right about the sameness of SLAM and 3D reconstruction. At the same time I don't think the author is misclassifying. The english is a little non-standard. The author could have better said it ...
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