Case study 2023

Question 1

Bundle Adjustment

Answer 1

describes the sum of errors between the measured pixel coordinates and the re-projected pixel coordinates when working in a 3d space. Used to estimate the surroundings.

Question 2

Computer Vision

Answer 2

Processor techniques to understand visual data.

Question 3

Dead reckoning data

Answer 3

using the previous data to estimate the next amount of data

Question 4

Edge computing

Answer 4

Edge computing is a distributed computing paradigm that brings computation and data storage closer to the sources of data. This is expected to improve response times and save bandwidth.

Question 5

global map optimisation

Answer 5

In essence, it’s the process of improving the accuracy and consistency of a map that a robot has created of its environment.

Question 6

global positioning system

Answer 6

a network of satellites and receiving devices used to determine the location of something on Earth

Question 7

gps-degraded environment

Answer 7

refers to any situation or location where the Global Positioning System (GPS) signals are unreliable, weak, or completely unavailable.

Question 8

gps-denied environment

Answer 8

a location or situation where the Global Positioning System (GPS) signals are not available at all.

Question 9

Human pose estimation (HPE)

Answer 9

a computer vision task that includes detecting, associating, and tracking semantic key points. Examples of semantic key points are “right shoulders,” “left knees,”.

Question 10

Inertial measurement unit (IMU)

Answer 10

an electronic device that measures and reports acceleration, orientation, angular rates, and other gravitational forces

Question 11

Keyframe selection

Answer 11

a term commonly used in the field of computer vision, especially in video processing and robotics.

Question 12

Key points/pairs

Answer 12

In structure from motion or SLAM (Simultaneous Localisation and Mapping), key point pairs are used to reconstruct 3D structure and camera movement from a series of 2D images.

Question 13

Light detection and ranging (LIDAR)

Answer 13

The distance is measured by sending a short laser pulse and recording the time lapse between outgoing light pulse and the detection of the reflected (back-scattered) light pulse.

Question 14

Optimization

Answer 14

the action of making the best or most effective use of a situation or resource.

Question 15

Object occlusion

Answer 15

Occurs when an object hides a part of another object.

Question 16

Odometry sensor

Answer 16

indicate how far the robot has traveled, based on the amount that the wheels have turned.

Question 17

Relocalization

Answer 17

a repetitive process in which the localized Information is re-scaled and re-adjusted for backtracking purposes.

Question 18

Simultaneous localization and mapping (SLAM)

Answer 18

Using SLAM software, a device can simultaneously localize (locate itself in the map) and map (create a virtual map of the location) using SLAM algorithms.

Question 19

Rigid pose estimation (RPE)

Answer 19

determine an object’s primary key points and then track these key points as they move across real-world spaces

Question 20

Robot drift

Answer 20

the accumulated error in a robot’s estimated position and orientation over time.

Question 21

Sensor fusion model

Answer 21

The fusion of data from different sensor types, such as cameras, LIDAR, ultrasonic sensors, and inertial measurement units (IMUs), allows robots to perceive and interact with their environment more effectively.

Question 22

Visual simultaneous localization and mapping (vSLAM) modules

Answer 22

The process of calculating the position and orientation of a camera, with respect to its surroundings, while simultaneously mapping the environment.

Question 22

Initialization in terms of vslam

Answer 22

“Initialization” refers to the process of setting up the initial conditions or starting point for the algorithm.

Question 23

Local mapping in terms of vslam

Answer 23

The robot builds a smaller, more immediate map of its surroundings,

Question 24

Loop closure in terms of vlsam

Answer 24

Loop closure is a sub algorithm of SLAM that is about identifying previously visited locations and using them to correct the accumulated errors in the robot’s pose estimation

Question 25

Relocalization in terms of vslam

Answer 25

a repetitive process in which the localized Information is re-scaled and re-adjusted for backtracking purposes

Question 26

Tracking in terms of vslam