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Questions tagged [slam]

This tag is for code related to SLAM (Simultaneous Localization and Mapping (SLAM) which is the computational problem, often related to robotics and/or drones, of constructing or updating a map of an unknown environment while simultaneously keeping track of an agent's location within it.

The following definition from Wikipedia:

In robotic mapping, simultaneous localization and mapping (SLAM) is the computational problem of constructing or updating a map of an unknown environment while simultaneously keeping track of an agent's location within it. While this initially appears to be a chicken-and-egg problem there are several algorithms known for solving it, at least approximately, in tractable time for certain environments. Popular approximate solution methods include the particle filter and extended Kalman filter.

SLAM on Wikipedia

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Path mapping using VectorNav VN100 IMU to map a route between two GPS coordinates

I'm trying to use a VectorNav VN100 IMU to map a path through an underground tunnel (GPS denied environment) and am wondering what is the best approach to take to do this. I get lots of data points from the VN100 these include: orientation/pose…
AVD
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Localization with RPLider (Python)

we are currently messing around with an Slamtec RPLidar A1. We have a robot with the lidar mounted on it. Our aim is to retrieve a x and y position in the room. (it's a closed room, could have more than 4 corners but the whole room should be…
mmm
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How to generate wireframe from point clouds on top of observed objects

Iam trying to generate wireframe on top of objects after generating the point clouds. How can i get wireframes similar to the ones generated in the image? I am able to run ORB SLAM2 and generate point clouds and save them. Iam even able to generate…
Pranjal Kanyal
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tm package installation errors in R version 3.6.1 (2019-07-05) -- "Action of the Toes"

I am trying to work with tm package in R on my Macbook Pro (late 2011) running under macOS High Sierra Version 10.13.6. The tm package has been installed but when I load it, I receive the following error message Error: package or namespace load…
RamS
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Can the model coordinates and image coordinates be the same when using solvepnp?

Currently, I am trying to implement a camera pose tracking system. I have a set of model coordinate points(3D) of the previous frame and the image coordinates(2D) of the current frame. I have also set an identity matrix(4x4) as the initial pose of…
Srinath Rao
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How does robot do pose estimation in SLAM?

I know that in particle filter algorithm a robot can pick the best pose given the map. But how can robot predict the pose in SLAM where map is not given. Do we get data from IMU?
Ma All
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Is it possible to obtain distance scaling in Monocular ORB-SLAM2?

I am trying to find the real world distance from camera to ORB feature points using Monocular ORB SLAM2. I calculated the Euclidean distance between world coordinates of each ORB feature point and the world coordinate of the current key frame's…
Swathy
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How to evaluate the results in the KITTI odometry dataset

I am trying to use KITTI open dataset to do some tests about vision odometry or vision INS odometry. But I can't understand the codes which are provided by KITTI odometry. I have downloaded the development kit (I think that it includes some codes…
Yancen BOB
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3D scan indoor locations

I know there are ways to 3d scan an object or a person using intel realsense, I wanted to ask if there are any ways to 3d scan and map an indoor location like for example a room?
m0j1
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MRPT SLAM MRPT::slam::CMetricMapBuilderICP warning Pose Extrapolation failed

I am using MRPT library's Map Builder ICP to implement a 2D slam on C++ by using Sick LMS151 to get CObservation2DRangeScan. Whenever I am providing the 2D range scan to the map builder, it generates a warning that the Pose Extrapolation has failed.…
Akash Purandare
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How to find obstacle using rplidar and hector-slam/hector-mapping?

In an industrial field, one robot will pick up the apples and sort them out. The robot will move fast. In that case, if any human is near to the robot it should be slow down. For that purpose, I want to use Rplidar A2 which will be in a fixed…
Kazi
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Segmentation fault printf

When I build rgb lsd_slam I search about segmentation fault, and I know something about it. But when I debug by stepping through each line, I get the result following: for (float* pt = data.imageRGB[0]; pt < maxPtRGB; pt++) { *pt = *rgbImage; …
Rentao Sun
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building lsd slam in xubuntu 16.4

I have cloned lsd_slam from github this link in section 2.2 of the README file the auther wrote that ros required, so I followed the instruction as it mentioned there : We do not use catkin, however fortunately old-fashioned CMake-builds are still…
Kave McDaniel
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Does ARCore supports SLAM and AreaLearning?

I'm trying to achieve Indoor Navigation system in shopping mall or an office ? Is that possible using existing ARCore ?
Srikanth104
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ORB-SLAM2 openCV installation error

I am trying out ORB SLAM2 for further processes of pose estimation. I m installing it in Ubuntu and after installing python, openGL, openCV, C++ compiler, Pangolin, Eigen3, BLAS and LAPACK, I am getting a make error while I install DBoW2. The error…
Ashif Shereef
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