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Questions tagged [slam-algorithm]

Simultaneous localization and mapping (SLAM) is a technique used by robots and autonomous vehicles to build up a map within an unknown environment (without a priori knowledge), or to update a map within a known environment (with a priori knowledge from a given map), while at the same time keeping track of their current location.

Simultaneous localization and mapping (SLAM) is a technique used by robots and autonomous vehicles to build up a map within an unknown environment (without a priori knowledge), or to update a map within a known environment (with a priori knowledge from a given map), while at the same time keeping track of their current location.

See http://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping

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Format of parameters in KITTI's calibration file

I accessed calibration files from part odometry of KITTI, wherein contents of one calibration file are as follows: P0: 7.188560000000e+02 0.000000000000e+00 6.071928000000e+02 0.000000000000e+00 0.000000000000e+00 7.188560000000e+02…
Finley
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Simultaneous Localisation and Mapping for android

I recently started exploring the world of visual recognition and was particularly interested in SLAM. I have tried and tested different SLAM implementations on a laptop from openslam.org I'm still new to the field and still learning about it. I want…
Shayan Jalil
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(Pseudo)-Inverse of N by N matrix with zero determinant

I would like to take the inverse of a nxn matrix to use in my GraphSlam. The issues that I encountered: .inverse() Eigen-library (3.1.2) doesn't allow zero values, returns NaN The LAPACK (3.4.2) library doesn't allow to use a zero determinant, but…
Toon
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What is the future of filtering methods vs incremental-SFM in visual-SLAM

In the Visual SLAM area, there's the well-known solution of EKF/UKF/Particle-SLAM , like the "mono-slam". Recently , there was a direction to Local Bundle Adjustment methods , like lsd-slam or orb-slam .. My question is : Do the filtering ways…
Yasin Yousif
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Creating LSD-SLAM static library for Android

I'm trying to create a LSD-SLAM static library in order to use it on an Android app. You know, the current LSD-SLAM program is for ROS on ubuntu. Does someone know a good tutorial or maybe if someone converted the library to Android…
Tang Jiong
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How to make Occupancy grid map from laser Sensor data?

i am doing a course project on ROS and am stuck on fairly easy task. My robot model has a laser scanner and I generated a bag file using my robot model in gazebo I am asked to generate a Occupancy grid map as we do in SLAM. I am NOT allowed to use…
M T
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iPhone Robotics Visual-SLAM algorithm implementation

I have a tracked robot with an iPhone for brains. It has two cameras - one from iPhone, another a standalone camera. The phone has GPS, gyroscope, accelerometer and magnetometer with sensor fusion separating user-induced acceleration from gravity.…
Alex Stone
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Why ceres covariance.Compute() seems run forever and not return?

I am trying to write a BA optimizer using Ceres and want to compute the covariances for my optimized results. But the program stuck at covariance.Compute(covariance_blocks, &problem)and it seems never stop computing and runs forever. I debugged deep…
Zhi Li
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Is there a way to construct and store a 3D Map from point cloud and depth data?

I am currently working on a SLAM algorithm, and I succeeded in gathering the depth and RGB data on the form of a point cloud. However, I only display the frames that my Kinect 2.0 received to the screen and that is all. I would like to gather those…
user1680944
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Loop Closing 3d Point Clouds

I am looking to understand how to implement a simple loop closing algorithm. Here is my situation : I have x numbers of point clouds, and I have used a registration algorithm in 3d that has given me the pose of all these point clouds. In the end, I…
Zepherus
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Accurate Image resizing

I need to resize an image using bilinear interpolation and create an image pyramid.I will detect corners at the different levels of the pyramid and scale the pixel co-ordinates so that they are relative to the dimensions of the largest image. If a…
PineTree
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Is there a library for indoor mapping for the Kinect 2.0?

I am exploring the capabilities that a Kinect has, that can be used in the robotics field. I am working on a telepresence robot where the Kinect is an important component of the robot. It is in fact the component that is used in order to generate a…
user1680944
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how does SLAM extract landmarks?

In the "slam for dummies" tutorial, laser scanner was used, and two methods of landmark extraction were shown. But most practical SLAM implementations are based on camera images. In these applications how are landmarks extracted? The Durrant-Whyte…
teddy teddy
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how do I convert kinect trajectory matrix to 4x4 homogeneus matrix (example)

Recently I used RGBD-Slam to obtain kinect camera trajectory. Each frame will have this: timestamp tx ty tz qx qy qz qw tx ty tz give the position of the optical center of the color camera with respect to the world origin as defined by the motion…
Mr.K
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suggestion on implementation of visual odometry using monocular camera

How to overcome scale problem in monocular visual odometery? Can someone suggest me a good paper on the implementation?
shashank bhushan
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