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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

216 questions
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Visual studio 2015. c++ compiler error C2280 attempting to reference a deleted function

What i am trying to do is to compile project which was built by CMake. In my code i have next method: /** "in-place" version of TriangularView::solve() where the result is written in \a other * * \warning The parameter is only marked 'const' to…
oleg.v
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How to invert the Rotation of one Axis in a Camera Matrix (e.g. OSG CameraViewMatrix)

For an augmented reality application I am using some slam algorithm to predict the current orientation of my mobile phone. The algorithm (LSD-Slam) supplies the current pose in form of a SE3 lie group (using Sophus::Sim3f). If I got this right,…
Christoph Göttert
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No map received SLAM Toolbox

I want to use SLAM Toolbox (https://github.com/SteveMacenski/slam_toolbox) but I get a WARNING: No map received in RVIZ. In the config file, I define base_frame as base_footprint I publish Odometry (without velocities, just position) to topic…
veronika_cz
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How to implement ICP with point-to-plane distance

I'm implementing 2D ICP(Iterative Closest Point). I tried to use point-to-point distance but the loss is large. In fact, the loss between two adjacent frames is acceptable but, for example, when I calculate loss between frame1 and frame20 it becomes…
MissSirius
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ROS ORB_SLAM2 /orb_slam2_mono/debug_image is blank even if camera works

I want to get mapping to work using a Picamera. I have a Raspberry Pi running a cv_camera_node and an Ubuntu 20.04.1 running roscore, as well as, slam and rviz. I have OpenCV 4.2.0 and installed the following version of orb-slam2:…
DragonflyRobotics
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OpenCV recoverPose from essential matrix E

with Opencv 3.0, I obtained the essential matrix with the function: E = findEssentialMat(points2, points1, focal, pp, RANSAC, 0.999, 1.0, mask); Looking at the mask values number of inliers are really high. After I used the recoverPose…
user3318590
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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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Robustly finding the local maximum of an image patch with sub-pixel accuracy

I am developing a SLAM algorithm in C, and I have implemented the FAST corner finding method which gives me some strong keypoints in the image. The next step is to get the center of the keypoints with a sub-pixel accuracy, therefore I extract a 3x3…
Bobisnotyouruncle
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How to turn a 3D image into a 2D map?

As the title state's I'm trying to turn an image like this: Into a 2d map. More specifically I want to map the red lines I was able to add on top of the image. I've tried some stuff and all I was able to get was this: Any help or tips? (I'm using…
Bob Stoops
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SolvePNP return bad rvec and tvec after some time

I am trying to estimate camera trajectory using stereo camera pair from KITTI dataset. The program uses cv::SolvePNP() at some point and for first 1500 frames it returns quite good results, but after that it goes completely wild. Here's what I'm…
Petar Markovic
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How to improve a trajectory of a camera, built from rotation and translation?

I am trying to recover a trajectory of a 2D camera, using a sequence of 2D-images and OpenCV. But the trajectory I get is not so good as I would like it to be. It goes back and forth instead of going just forth. I have a sequence of photos taken on…
Olya Agapova
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3 answers

Cross Prod Rolling Values

I am trying to figure out a way to calculate rolling sum values based on a vector of data.Below is a sample dataframe and the answer I am trying to compute, but can't figure out the proper solution. Essentially, i'm trying to multiply each x column…
jsimpsno
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SLAM system that uses deep learned features?

Has anybody tried developing a SLAM system that uses deep learned features instead of the classical AKAZE/ORB/SURF features? Scanning recent Computer Vision conferences, there seem to be quite a few reports of successful usage of neural nets to…
Daniel Danciu
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How to get the orientation vector of the camera given its rotation matrix / quaternion?

When I have the rotation matrix or quaternion representation of a camera's pose, is there a way to obtain the orientation vector of the camera? Here the orientation vector means a 3D vector in the world coordinate (WC) that represents an…
Simon Rio
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opencv make error: limits.h no such file of directory

I am getting the following error when I execute the make command in ubuntu 16.04 terminal. Please let me know, How an I fix? (cv) mallikarjun@mallikarjun-ideapad-z570:~/opencv-3.1.0/build$ make [ 0%] Building C object…
Mallikarjun Talagade
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