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Unanswered Questions

11
votes
0answers
304 views

What is the best way to compute the probabilistic belief of a robot equipped with a vision sensor?

I am trying to implement 'belief space' planning for a robot that has a camera as its main sensor. Similar to SLAM, the robot has a map of 3D points, and it localizes by performing 2D-3D matching with ...
7
votes
0answers
3k views

Angle Random Walk vs. Rate Noise Density (MPU6050)

I’ve made a datalog from a MPU6050 (IMU: gyroscope and accelerometer) at 500Hz sample rate. Now I want to calculate the characteristics from the gyro to evaluate the sensor. For the gyro I’ve found ...
6
votes
1answer
276 views

Reward Function for q learning on a robot

I have 2 wheeled differential drive robot which I use pid for low level control to follow line. I implemented q learning which uses samples for 16 iterations then uses them to decide the best position ...
5
votes
2answers
83 views

Delayed Kalman navigation based on two way ranges

I am interested to know the basic principle of the "Delayed KF" when considering an underwater robot aiming to localize it self using a LBL system. More practically, in order to calculate the ...
5
votes
0answers
169 views

Robot arm energy and stability optimization

For a project I need to come up with two constraint optimization problems in robotics. The task of the robot is to move the end-effector in a straight line (e.g. in the x direction) in Cartesian ...
5
votes
1answer
79 views

Setting initial conditions in a quadcopter numerical simulation

I am new to robotics, and currently trying to develop a purely numerical simulation of a quadcopter. As I understand, the problem of quadcopter control includes take-off control, hover stabilization ...
5
votes
0answers
310 views

How does one implement a third order complementary filter for estimating altitude using data from an accelerometer and a barometer?

I am working with the CJMCU build of cleanflight on a small drone. As of now, the algorithm for altitude hold uses a first order complementary filter to combine data from the barometer and the ...
4
votes
0answers
46 views

Matlab: Simulate received signals of sonar sensors

StackExchange community! I need the guidance what to use for the generation sensor data in Matlab. My purpose is to optimize the exploration process of unknown environment using the multi-robot ...
4
votes
1answer
276 views

Tuning Line follower PID constants with Q-learning

I am currently working on a line follower buggy and have managed to tune the PID constants​ manually. The buggy follows the line at a moderate speed. I will now like to take things further and learn ...
3
votes
0answers
28 views

Can you find object distance using camera pose

I have bounding boxes detected in RGB images, but no information about the camera's intrinsic properties. Using deep learning (preferably) can I find the distance to the object from the camera in real ...
3
votes
0answers
84 views

Monocular SLAM depth reconstruction

I am trying to derive the inverse depth equation used in monocular SLAM algorithms. Specifically the equation 8 of the ORB SLAM paper I am very close, except I do not understand where the (u_j-c) ...
3
votes
2answers
171 views

How can I stream Kinect V2 tracking data from PC to Raspberry Pi 3 through WiFi?

I'm currently working with Kinect v2. I can do all sort of stuff on PC with it. What I want to do next is, to get the data I want on PC and control the Raspberry Pi with that data (for example, I will ...
3
votes
1answer
1k views

Kalman filter GPS + IMU fusion get accurate velocity with low cost sensors

I'm new to all this robotics stuff. Especially to Kalman filter. My initial goal is to have velocity as accurate as possible Here is my case: I have a phone which is mounted, for example in the ...
3
votes
2answers
200 views

How can i connect two adafruit 16-channel 12-bit PWM/Servo Driver I2C interface (pac9685) to Raspberry or Arduino

I need to control 24 servos but I do not know how to do with I2C. I saw some componentes that do it with USB, but I need to do it with I2c. I am working in a robot with 8 legs and 3 degree of freedom ...
3
votes
2answers
214 views

Lego Mindstorms EV3 gyro sensor offset fix

I am currently working on a project for a Lego Mindstorms EV3 autopilot using Matlab/Simulink. Basically, I am using a closed loop control system with a PID controller for the control of the control ...

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