Robotics Stack Exchange
Robotics Stack Exchange

Most Popular

more tags
1500 questions
3
votes
1 answer

Rotation composition When using Kalman Filter

I am implementing a Kalman Filter for the following situation. I have a camera set in a room that can detect the position and orientation of a marker (ARUCO) in the room. Therefore I have the following frame transformations: What I want to filter…
ejalaa12
  • 298
  • 2
  • 8
3
votes
1 answer

MPU6050 inconsistent Gyro data

I'm using an MPU6050 for a custom flight controller and I am facing an issue when reading the values from the IMU. The data shown below represents the angular velocity in the y-axis. When the angular velocity is increasing or decreasing the overall…
MrMuffins
  • 41
  • 3
3
votes
2 answers

Places for the up-to-date topics in robotics

Are there specific places/websites where you guys read about the topics that are being searched in Robotics, specially, for the most newest researches. I would like to know the places where the most hottest topics in Robotics are studied for both…
CroCo
  • 2,453
  • 1
  • 17
  • 40
3
votes
2 answers

Scale estimation in datasets for monocular odometry

Suppose I've developed a monocular SLAM or odometry algorithm. Then I want to test it on some dataset, for example KITTI, TUM etc. How should I deal with the absolute scale in this way? Thanks.
Roman Dosaev
  • 61
  • 2
3
votes
1 answer

Why does a Bayesian Filter require random controls?

As stated in Probabalistic Robotics, the proof for correctness of a Bayesian Filter relies on the fact that $$p(x_{t-1}|z_{1:t-1},\ u_{1:t}) = p(x_{t-1}|z_{1:t-1},\ u_{1:t-1})$$ In order to justify this, they say $u_t$ can be safely omitted ...…
Peter Mitrano
  • 155
  • 1
  • 7
3
votes
4 answers

3D mapping using only a 2D Lidar

How can I map a 3D environment using only a 2D lidar? The lidar would be hand held and it would have 6 DoF. So if I move it in arbitrary motion in all 6DoF, I expect my algorithm to generate a 3D map of whatever part of the environment was visible…
quartzfun
  • 153
  • 1
  • 8
3
votes
1 answer

Camera ego-motion estimation via dense optical flow

Help me please resolve some questions in the article 1) "A Robust Method for Computing Vehicle Ego-motion", Gideon P. Stein et al. According to this paper we can find three components of motion (one translation and two rotational components)…
Roman Dosaev
  • 61
  • 2
3
votes
2 answers

What is appearance-based SLAM?

To my understanding appearance-based SLAM uses only information coming from sensors for mapping and localization. It completely discards control information from actuators. I'm I correct?
Nicolas Schejtman
  • 131
  • 2
3
votes
1 answer

ROS PCL: Help with Moving Least Squares filter

I'm trying to implement a simple ROS node to perform Moving Least Squares filtering on a sensor_msgs/PointCloud2 topic. I'm following this PCL tutorial, which uses the pcl/surface/mls.h file. My code is at this GitHub page, but replicated…
aaronsnoswell
  • 161
  • 7
3
votes
1 answer

How is gyroscope bias exposed and tracked?

For an accelerometer, the measurement is defined in the following way: $$a_m = R_w^b(a_{w} - g) + b_a + v_a$$ Where $R$ is a rotation matrix, $g$ is gravity, $v_a$ is noise, and $b_a$ is the bias. With this, we can expose the bias and orientation…
Martin Deegan
  • 81
  • 4
3
votes
1 answer

lithium thionyl chloride batteries to generate 20A @ 14.4V

I am building a robot where power density is critical, and looking into using lithium thionyl chloride (SOCl2) batteries. I will be drawing around 20A constantly and need between 12 and 17V. The batteries I have found so far are AA-sized and…
foobarbecue
  • 643
  • 5
  • 15
3
votes
1 answer

State prediction of vehicle with Ackermann steering geometry using Kalman-Filter

I am trying to have a Kalman-Filter (or Extended-KF) give me positions for a small remotely controlled vehicle with an Ackermann steering geometry (moving on a plane surface). The control commands I can send to the vehicle are wheel speed and…
numberCruncher
  • 133
  • 3
3
votes
2 answers

A* algorithm for Arduino robot path planning

Im in the process of getting into robotics. I have decent experience with symbolic AI and am wanting to start off using symbolic AI strategies to give a wheel, arduino based robot some "intelligence". (later I hope to use neural networks, but baby…
Remus Ventanus
  • 45
  • 1
  • 5
3
votes
1 answer

rospack Error: package 'script' not found

I am trying to run rosrun script forward.py but it gives me an error saying [rospack] Error: package 'script' not found In my bashrc I've added these lines: source /opt/ros/indigo/setup.bash source /home/hassan/catkin_ws/devel/setup.bash export…
Hassan Yousuf
  • 131
  • 3
3
votes
3 answers

Iterative Closest Point for 2-D LIDAR Data

I have two 2-D point clouds obtained from LIDAR (Light Detection And Ranging) scans at two different poses (positions and orientations) inside a circular structure, where a small object (vertical cylindrical column) is placed at a fixed location. My…
AEW
  • 133
  • 5
1 2 3
…
99
100