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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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dependency ‘slam’ is not available when installing TM package

I was able to use the library(tm) in r without problem until today, when loading tm shows: library(tm) Loading required package: NLP Error in loadNamespace(i, c(lib.loc, .libPaths()), versionCheck = vI[[i]]) : there is no package called…
Carl H
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Limit memory in using isam2

I'm investigating the usage of the incremental smoothing and mapping class (isam2) in the gtsam package for a real-time image navigation problem. The issue is that while the API has methods for adding factors to the factor graph using…
M Wellington
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Efficient jaccard similarity DocumentTermMatrix

I want a way to efficiently calculate Jaccard similarity between documents of a tm::DocumentTermMatrix. I can do something similar for cosine similarity via the slam package as shown in this answer. I came across another question and response on…
Tyler Rinker
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Format of parameters in KITTI's calibration file

I accessed calibration files from part odometry of KITTI, wherein contents of one calibration file are as follows: P0: 7.188560000000e+02 0.000000000000e+00 6.071928000000e+02 0.000000000000e+00 0.000000000000e+00 7.188560000000e+02…
Finley
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Marker based initial positioning with ARCore/ARKit?

problem situation: Creating AR-Visualizations always at the same place (on a table) in a comfortable way. We don't want the customer to place the objects themselves like in countless ARCore/ARKit examples. I'm wondering if there is a way to…
user2463728
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Robust Localization for environment with low features

I am new to SLAM and autonomous driving. Case: Robot needs to start from point A and reach point B with maximum accuracy as well as precision for all the cases. The only object around it is the table (shaded box in the pic) and the ground it travels…
Pe Dro
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Poor quality maps produced from odometry based slam algorithms tested in real TurtleBot

I am currently testing several slam algorithms in a real TurtleBot(ROS Kinetic). Despite the fact that everything seems to be working fine on TurtleBot I have come across a problem on the maps coming from odometry based slam algorithms. Although I…
gonidelis
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Parallel Bundle Adjustment (PBA)

I'm trying to perform Bundle Adjustment (BA) on a sequence of stereo images (class Step) taken with the same camera. Each Step has left & right images (rectified and synchronized), the generated depth map, keypoints+descriptors of the left image & 2…
La bla bla
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PyEnv BUILD FAILED installing Python on MacOS Ventura 13.2.1

I'm working on a project from https://github.com/luigifreda/pyslam which uses only python 3.6.9, so I tried to install it: pyenv install 3.6.9 and encountered a build failed: python-build: use openssl@1.1 from homebrew python-build: use readline…
kaikao64
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Undefined Reference While Compiling ROS ORB_SLAM2

I am trying to compile this version of ORB SLAM2 and after fixing some library import errors, I got this: CMakeFiles/Stereo.dir/src/ros_stereo.cc.o: In function `main': ros_stereo.cc:(.text.startup+0xc49): undefined reference to…
DragonflyRobotics
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How to get camera calibration matrices?

I am currently experimenting with ORB SLAM 2 and a stereo camera like this. I am using 2.8mm and optionally 3.6mm lenses with a resolution of 640x480 pixels for the left and right camera/image. ORB SLAM 2 lets me define several distortion/rectifying…
salocinx
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ARCore how to set point cloud in Unity

Sorry i am new at ARCore and augmented reality. I have a general question about PointCloud class in Unity. My question is: Would it be possible to import a point cloud of a room which is scanned by kinect or etc, to Unity to use as PointCloud in an…
Ali Kanat
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SLAM Vs Registration

I am working with 3D point clouds acquired from an object and I need to align them in a single global point cloud. I am having an hard time in understanding the difference between SLAM and registration. Especially since both of them can implement…
Anna C
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How to update the covariance of a multi camera system when a rigid motion is applied to all of them?

For example for 6-dof camera states, two cameras have 12 state parameters and a 12*12 covariance matrix (assume Gaussian distribution). How does this covariance change when a 6-dof rigid motion is applied to the cameras? What if the 6-dof is a…
Mr.Guo
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Ximea Python script using triggers leads to blank images

I'm trying to write a Python (2.7.12) and OpenCV (3.2.0) script that will open a left and right side camera Ximea xiQ camera, set some parameters, start acquisition, snap a photo from each camera once per second, write them to a file, and then…
a_banana
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