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Unanswered Questions

664 questions with no upvoted or accepted answers
11
votes
0answers
311 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 ...
6
votes
1answer
293 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 ...
6
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 ...
5
votes
1answer
70 views

In practical terms, how close is the accuracy of camera-based visual odometry/SLAM methods to lidar-based methods for autonomous car navigation?

Benedict Evans, a general partner at Andreessen Horowitz, claims that “almost all autonomy” projects are using lidar for SLAM, and that not all of them use HD maps. An MIT group is testing self-...
5
votes
1answer
86 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
315 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
53 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
296 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
16 views

Deriving the equations of motion for free-floating spacecraft with a single link robot arm

Note: I had previously posted this question on the Space SE site, but received little/no response. So I've deleted the old post and repasted it here in the hope of getting more responses. I'm trying ...
3
votes
0answers
33 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
85 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
193 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
231 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
249 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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