Go to Post In 2012, we built our best machine ever. Some visitors to our pit were visibly disappointed to find that our machine was a pile of extruded aluminum and urethane belting, just cleverly arranged and programmed. - OZ_341 [more]
Home
Go Back   Chief Delphi > Technical > Programming
CD-Media   CD-Spy  
portal register members calendar search Today's Posts Mark Forums Read FAQ rules

 
Reply
Thread Tools Rate Thread Display Modes
  #16   Spotlight this post!  
Unread 17-05-2016, 23:43
Brian Selle's Avatar
Brian Selle Brian Selle is offline
Mentor
FRC #3310 (Black Hawk Robotics)
Team Role: Engineer
 
Join Date: Jan 2012
Rookie Year: 2012
Location: Texas
Posts: 170
Brian Selle has a spectacular aura aboutBrian Selle has a spectacular aura aboutBrian Selle has a spectacular aura about
Re: Autonomous Robotic Mapping

Haven't tried these but they look promising.

http://navspark.mybigcommerce.com/ns...gnss-receiver/
__________________
2016 Curie Quarter-Finalist (5803, 3310, 2168, 5940), Lubbock Regional Winner (3310, 4063, 4301), Arkansas Regional Winner (16, 3310, 6055)
2015 Newton Quarter-Finalist (3130, 2468, 3310, 537), Lubbock Regional Winner (2468, 3310, 4799)
2014 Galileo Quarter-Finalist (2052, 70, 3310, 3360), Colorado Regional Winner (1138, 3310, 2543)
2013 Archimedes Semi-Finalist (126, 3310, 1756), Texas Robot Roundup Winner (3310, 624, 2848), Dallas Regional Winner (148, 3310, 4610)
2012 Dallas West Regional Winner (935, 3310, 4206)
Reply With Quote
  #17   Spotlight this post!  
Unread 18-05-2016, 00:09
Mechvet Mechvet is offline
Certified Public Menace
FRC #0114
Team Role: Mentor
 
Join Date: Jan 2016
Rookie Year: 2004
Location: Los Altos
Posts: 64
Mechvet is a jewel in the roughMechvet is a jewel in the roughMechvet is a jewel in the rough
Re: Autonomous Robotic Mapping

I used to work at a company that provided SLAM solutions out of the box to potential PHD's. We'd deliver anything from the top end systems ($70k+) to the quite budget friendly options.

If you're able to share your budget constraints, it would greatly help us recommending tech to get you where you need to be.
Reply With Quote
  #18   Spotlight this post!  
Unread 18-05-2016, 00:40
AlexanderTheOK AlexanderTheOK is offline
Guy
no team
 
Join Date: Jan 2014
Rookie Year: 2012
Location: Los Angeles
Posts: 147
AlexanderTheOK is just really niceAlexanderTheOK is just really niceAlexanderTheOK is just really niceAlexanderTheOK is just really nice
Re: Autonomous Robotic Mapping

shouldn't need to spend too much money on a SLAM solution. and yes SLAM works outdoors

Last I checked you could get an xbox 360 kinect used for 25 a pop at gamestop. As long as whatever you are running can run ros on ubuntu you should be good. Odroid makes good cheap single board computers, and while I don't have any experience with the jetson boards, they should also be rather good, if not a bit on the expensive side going by what I've read on CD.
Reply With Quote
  #19   Spotlight this post!  
Unread 18-05-2016, 01:10
RyanCahoon's Avatar
RyanCahoon RyanCahoon is offline
Disassembling my prior presumptions
FRC #0766 (M-A Bears)
Team Role: Engineer
 
Join Date: Dec 2007
Rookie Year: 2007
Location: Mountain View
Posts: 689
RyanCahoon has a reputation beyond reputeRyanCahoon has a reputation beyond reputeRyanCahoon has a reputation beyond reputeRyanCahoon has a reputation beyond reputeRyanCahoon has a reputation beyond reputeRyanCahoon has a reputation beyond reputeRyanCahoon has a reputation beyond reputeRyanCahoon has a reputation beyond reputeRyanCahoon has a reputation beyond reputeRyanCahoon has a reputation beyond reputeRyanCahoon has a reputation beyond repute
Re: Autonomous Robotic Mapping

Quote:
Originally Posted by mreda View Post
thats more along the lines of what i was thinking. Is there a system out there that has this already?
For the kind of accuracy (a few centimeters over a work area that I would guess is at least 10 meters on a side) and price point (less than $1000) you seem to be going for, you're probably not going to find some ready-made solution.

You may be able to find a cheaper option, but with 5-10 minutes of searching, the cheapest 360* camera that supports live streaming to a computer that I could find is the $449 VSN MOBIL V.360° with a $299 HDMI converter. If you want 360* coverage, another certainly cheaper option is to get several webcams pointed in different directions - the downside to this approach is you have to do all the extrinsic camera calibration yourself, which is generally a pain. I might recommend starting with just a single camera with a wide angle lens (be aware that you'll have to correct for distortion).

You can use one of the existing visual fiducial tracking libraries. I mentioned AprilTags already; ARToolKit is also widely-used. If you have a good view of the fiducial marker tag (place lots of tags around the area so the robot always has a good view of at least one), these libraries will give you a 6D pose estimate of the tag relative to the camera. You can invert this to give you the position of the robot relative to the tag, which then gives you the absolute pose of the robot when you add it to the known position and orientation of the tag.

Once you have position estimates derived from the individual observed beacons, you can fuse them to create a more accurate position estimate for the robot. There are fancier methods available, but a 90% solution could probably be achieved with a Kalman filter and a few heuristics for resetting.

Here's a couple of projects that claim to do similar to what you're asking (I haven't tried them personally):
- https://github.com/ProjectArtemis/aprilslam
- http://pharos.ece.utexas.edu/wiki/in...SimonSays_Demo
- https://github.com/LofaroLabs/POLARIS / http://wiki.lofarolabs.com/index.php..._Indoor_System
__________________
FRC 2046, 2007-2008, Student member
FRC 1708, 2009-2012, College mentor; 2013-2014, Mentor
FRC 766, 2015-, Mentor
Reply With Quote
Reply


Thread Tools
Display Modes Rate This Thread
Rate This Thread:

Posting Rules
You may not post new threads
You may not post replies
You may not post attachments
You may not edit your posts

vB code is On
Smilies are On
[IMG] code is On
HTML code is Off
Forum Jump


All times are GMT -5. The time now is 01:08.

The Chief Delphi Forums are sponsored by Innovation First International, Inc.


Powered by vBulletin® Version 3.6.4
Copyright ©2000 - 2017, Jelsoft Enterprises Ltd.
Copyright © Chief Delphi