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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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How to get accurate timestamp of picture captured by camera in Android Platform?

I'm trying to do some work on porting a Visual-Inertial State Estimator to Android Platform using Camera and Sensors (Gyroscope & Accelerometer) of Android. But after I finished it, I just found out something really disappointed me in the result,…
Tommy Han
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How to merge two point cloud with there scales are different?

We now are using SFM to reconstruct our school building. But our school is too big to reconstruct them by once. So we decide to divide them into several blocks and reconstruct them, and merge these point clouds. Because of the scale ambiguity of…
justPassBy
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get pose from orbslam

Hi I need use orbslam to get the pose of camera. I know I should use things like mpCurrentKeyFrame->GetPose() to get the pose. I saw the source code the "GetPose()" function will return "Tcw". What's the meaning of Tcw here? If I extract "roll…
Zhaozhong Chen
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bit_pattern_31_[256*4] in opencv orb feature detector

I'm learning orb-slam and opencv source code, and inside the orb.cpp which lies on modules/features2d/src/ directory I see a bit pattern named as bit_pattern_31_[256*4] But I really don't know what's its usage. I search the google and bing long…
wangzheqie
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ORB_SLAM installation on Ubuntu Xenial 16.04

Is it possible to install ORB_SLAM/ORB_SLAM2 on last version of Ubuntu (Xenial 16.04) without black magic? I know that the recommendation is to use Ubuntu 14.04 according to https://github.com/raulmur/ORB_SLAM2, but I currently have last version and…
Roman Dosaev
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Which SLAM implementations support pcap input?

I have a .pcap file collected from using a Velodyne VLP16 LIDAR unit. I've been looking through the different implementations of SLAM and most use camera or stereo camera inputs. I was wondering if there was an implementation that supported pcap…
nickponline
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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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Pose estimation of 3D object and 2D picture, but it's X-ray volumetric data (DRR of CT/MRI)

How can I localize 2D projections in (dense, transparent) 3D volumes? I seem to only find algorithms that work on datasets with non-transparent surfaces. Those algorithms rely on geometric assumptions that do not hold true in DVR environments (with…
lematthias
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Can not receive image using ROS2 functions in the node?

I created ,monocular-inertial node for ORB_SLAM3 in ROS2 humble. Its can build without any errors. My camera image is RGB image . So I have the function to get the image in this way cv::Mat ImageGrabber::GetImage(const…
Macedon971
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ROS - LaserScan moves instead of robot

I recently run into following problem. While trying create a map from simulation data using slam_toolbox, my laserScan data are shifting based on robot movement instead of him. Robot stay in 0,0 position despite odometry changing. Im sending data…
Jakub Mikluš
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How do I reconstruct a mesh starting from ground truth poses and depth maps in Open3D?

I'm trying to test a custom 3D reconstruction pipeline that receives ground truth depth maps as input: To see the full code you can proceed to the end of the question, now I will just outline my approach without getting into the details. Suppose I…
ИванКарамазов
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how to remove floor surface in the pointcloud2 data with the pcl_ros

first, thanks for reading. now i am trying to do remove floor in the point cloud data, this is a code that i wrote to remove the floor point cloud. #include #include #include #include #include…
lee dida
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Java 2d map from x and y coordinates?

I amlooking for a simple way to create a 2d map from x and y coordinates. The program should read a text file with distance measures separated with a comma in (360 measures for every degree), convert these into coordinates, and then create a map,…
Lexan
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TF2 transform can't find an actuall existing frame

In a global planner node that I wrote, I have the following init code #!/usr/bin/env python import rospy import copy import tf2_ros import time import numpy as np import math import tf from math import sqrt, pow from geometry_msgs.msg import…
Hongyan Wu
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How to understand "pre" in Preintegration of IMU?

I see preintegration in IMU-fused SLAM literatures, which mention that preintegration is useful in avoiding to recompute the IMU integration between two consecutive keyframes. However, when I see some open-sourced SLAM code, e.g. OrbSLAM3, I haven't…
xc wang
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