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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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sfm/slam implementing with webcam

I want to implement Structur from Motion (SfM) / Simultaneous Localization and mapping algorithms using my webcam. I am very new on this topic so I need advices from experts in the internet. I could now able to build OpenCV opencv sfm tutorial for…
P.A
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Where and how do SLAM algorithms keep a map?

I'm new to SLAM and I'm sure the question is dumb, but I'd really like to know how this pose and area data accumulation goes in SLAM. Once an algorithm initializes it starts to track pose (and write somewhere (where?) a sequence of coordinates) and…
Sophour
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ceres solver analytical derivative doesn't work

template class getResidual : public ceres::SizedCostFunction<1,3> { public: ConcreteOccGridMapUtil* occ; DataContainer dataPoints; getResidual(ConcreteOccGridMapUtil* occ, const DataContainer&…
Bowen Wen
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installing tm in older version of R Version 3.2.0

I would like to install the tm package and I am having great difficulty. I tried the traditional. I am using older version of R and it is causing issues. I am mac user using 10.10. 5 Yosemite and I cannot upgrade my R to next version as I need to…
user3570187
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Process and measurement covariance in EKF

What is a practical way to find process/measurement covariances in EKF? I may have some ground-truth data for this task. Also, how does non-constant measurement time intervals influence the above covariances?
Alex Kreimer
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Segmentation fault when performing bundle adjustment with g2o

void bundleAdjustment ( const vector< cv::Point3f > points_3d, const vector< cv::Point2f > points_2d, const Mat& K, Mat& R, Mat& t ) { typedef g2o::BlockSolver< g2o::BlockSolverTraits<6,3> >…
Finley
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How to calculate homography from ORB Slam Rotation and Translation matrices?

is there anyone know how to convert the rotation and translation matrices computed from ORB-SLAM to a homography matrix? In addition, the results from ORB-SLAM were normalized, is there any way to scale to the pixel size? thank!
L.Cai
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Error while running ORB_SLAM2 Library

As per requirement mentioned in this link, I have installed all the required components like Pangolin, OpenCV etc...Now after building the ORB_SLAM2 library, I am getting the following error... make[2]: *** No rule to make target…
user7689454
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Error with using ORB-SLAM2

I was trying to get my hands dirty with SLAM and I started with ORB-SLAM2 library. I have downloaded a TUM sequence and wanted to use ROS for it. So I am following the steps according this page. In Step 7, part 2, when i run ./build_ros.sh, I get…
Sarvagya Gupta
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Where should I center the kinect camera sensor for slam?

I'm trying to RGB-D SLAM with a Kinect sensor. The Kinect sensor has a rgb camera and a depth camera. Where should I center my camera for rosbag? The center of rgb camera? The center of depth camera? In between the two cameras? And since the two…
이다훈
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Wall detection in MATLAB SLAM sensor simulation

I am working on a simple SLAM simulation for a project. Here's the problem: For the simulation, I will be using a mobile robot moving in a room. The robot has laser distance sensors so he can detect the detect the distances from itself to the wall…
ebernardes
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What is the best way to use fopen()

I am in my internship and Im a working on a projet of SLAM simulation, and I'm having a little problem while writing my cloud points into my file. Here is my code, I have two functions : void ecriture_fichier(double x, double y){ …
shenki
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iphone 6s camera calibration parameters

How can I get camera calibration parameters for iphone 6s? I need the following intrinsic parameters: Cam_fx: normalized focal length in x Cam_fy: normalized focal length in y Cam_cx: normalized camera center in x Cam_cy: normalized camera center in…
vacky
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ORB SLAM 2 - AR Implementation for Android

I implemented an application using ORB-SLAM2. Currently I have an OpenCV JavaCameraView in my activity and converting the camera frames to Matand send them to SLAM System. Everything is now working but I don't know how to render and show a virtual…
Ahmad Behzadi
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Does Kudan allow for multiple objects to be places while using markerless tracking?

I am currently using Kudan AR in the Unity Game Engine. I understand how to place an individual object using the Markerless Tracking mode, but it appears as if the way this works is by using ArbiTrackGetPose, and simply setting the transform of the…
user3622534
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