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1500 questions
3
votes
1 answer
Performing the proper coordinate system transformation
I could use some guidance regarding a coordinate system transform problem. My situation is this: my system begins at some unknown location, which I initialize the location (x y) and orientation (roll, pitch, and yaw) all to zero. I establish a frame…
jdt141
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3
votes
2 answers
Do self-driving robots use object-level SLAM?
How do self-driving bots usually deal with transient objects, e.g., parked cars on the side of roads when they can come and go? These aren't moving objects at the time of capture, but they do move at a later time. Is it common to run a CNN to detect…
John M.
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3
votes
2 answers
How come LIDAR is not commonly used for indoor navigation?
I'm reading this survey on the state-of-the-art techniques for indoor positioning and navigation. I noticed that LIDAR isn't mentioned at all in the paper. Is LIDAR not meant to be a common method for indoor navigation? I believe I've seen some…
John M.
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3
votes
1 answer
Why do strong rotations affect Monocular Vision based Visual Odometry?
In context of the paper Semi Dense Visual Odometry for a Monocular Camera J Engel, J Sturms, D Cremers
At page 7, last paragraph the author writes
The achieved tracking accuracy for two feasible sequences - that is, sequences which do not contain…
vyi
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3
votes
1 answer
Error term formulation in Graph SLAM (conceptual doubt)
I am reading A Tutorial on Graph-Based SLAM.Grisetti, Kummerle, Stachniss & Burgard
On page 5, the error function is introduced as follows
$$e_{ij}(x_i, x_j) = z_{ij} - \hat{z}_{ij}(xi, xj)$$
here $z_{ij}$ is the mean of virtual measurement and…
vyi
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3
votes
1 answer
Command line boolean parameters to ros node
I'm working with ROS melodic and Gazebo 9.9.0 on an Ubuntu 18.04.2 LTS.
I want to get two boolean parameters from command line. To do it, I have this code:
int main(int argc, char **argv)
{
bool doDiagonalSteps = false;
bool…
VansFannel
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3
votes
1 answer
Use computer to throw a small switch
Would like a product that enables me to use my computer to throw an small DC ON / OFF switch. Seems like a stupidly simple thing to do, but for the life of me I can't seem to find such a device when I search online.
Is there a device floating around…
Chris Dutrow
- 131
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3
votes
1 answer
Is finished plywood a comparable prototyping substitute for polyoxymethylene?
I'm working on a robot with a team, and we're building our robot out of acetal polyoxymethylene (POM) (specifically, delrin) plastic. However, we'd like to prototype the robot before we build it out of POM, as POM is somewhat expensive.
There are…
user2015
3
votes
1 answer
Helium Balloon Altitude and Velocity Control System
I am designing a helium balloon which implements a control system that can expand and contract the balloon using a motor, thereby increasing or decreasing buoyancy and, subsequently, acceleration. I want to be able to send the balloon to a target…
Instakat
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3
votes
2 answers
EKF SLAM : Missing older landmarks in new observation
I am a beginner to SLAM and robotics in general and I have been trying to implement SLAM on my GoPiGo3 robot car kit using primarily Chapter 10 from Probabilistic Robotics by Sebastian Thrun as reference.
I am using a laser distance sensor attached…
Ananda Kumar
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3
votes
1 answer
Home position of robot created using modified DH Parameters doesn't match the real robot
I have created a 6-DOF robot using RigidBodyTree() method and modified D-H parameters using robotics toolbox in MATLAB.
The modified DH parameters for the robot are as follows:
I have followed the example here:…
Rock
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3
votes
1 answer
What does it actually mean by Task Planning?
According to the research paper Parallel process decomposition of a dynamic manipulation task: robotic sewing (D. Gershon, DOI: 10.1109/70.56654):
Abstract - ... The task planner approach, as promoted by the Al community, is unsuited to tasks …
user366312
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3
votes
0 answers
Is it possible to calculate a homography matrix for any 2 views?
I've been experimenting with opencv to estimate the homography matrix between 2 images captured with my computer's webcam. I have noticed that when the 2 views are not very far apart (that's when I don't move my computer far away), when I warp the…
S.E.K.
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3
votes
1 answer
Debuging ROS on a Jetson Xavier
I have configured ROS melodic based on the RACECARJ and MIT-Racecar Github repos. Everything runs perfectly on my desktop Linux 18.04 machine.
The script should be able to install the same also on my Nvdia Jetson Xavier with Jetpack 4.2. Everything…
Mr.Sh4nnon
- 133
- 3
3
votes
1 answer
Can ROS workspace safely exist in an external HDD?
Is it safe to create and operate a ROS workspace from an external hard drive? Are there any limitations or issues I should be aware of?
Tutorials and manuals typically suggest that the workspace should be created in the home directory, but I would…
Microbob
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