Navigation Flashcards
What is robot navigation?
A robot’s ability to plan and follow a path in it’s environment from one location to another.
What is localization in robotics?
How a robot determines its position and orientation within an environment that often involves using sensors and algorithms to estimate a robots location.
What question summarizes the concept of localization with respect to a robot?
Where is the robot right now?
What does SLAM stand for
Simultaneous Localization and Mapping
What is SLAM?
A technique that allows a robot to create a map of it’s surrounding environment (using sensors) while simultaneously determining where it’s located within this map.
What are the different types of SLAM?
- Online
- Offline
- Visual
- Graph
How does online SLAM work?
Gradually builds up a map and adjusts the robots pose in realtime while it navigates through an environment.
How does offline SLAM (AKA full SLAM) work?
A map is constructed after a robot has fully explored an environment
How does visual slam work?
Uses information from cameras for mapping and localization.
How does graph SLAM work?
The environment is represented as a graph. The nodes of the graph are robot poses. The edges of the graph are constraints based on the measurements of robot sensors (lidars etc.). The map is optimized to find an ideal map and trajectory.
What is odometry in robotics?
Provides a repeated estimation of a robot’s position.
What is pose?
Position and orientation of an object.
Is there an absolute pose?
No, a pose is always relative to a reference pose.
What is a pose graph?
A representation of a set of poses with known relative poses.
How do we quantify a pose?
Attach a coordinate frame to an object. Origin of the frame is the object’s position. The direction of the frame’s axes pertains to its orientation.
