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Q:
Circumventing the limits of ORB / SLAM in 4D
I’ve taken a look at the methods proposed in the “4D Robotics” book, the visual simultaneous localization and mapping(SLAM).
The method that uses OpenRAV to create an “ellipsoid” has the limits of a 2D map in the parameter space of the 4th coordinate( which helps to map 3D space to 2D) but is not limited to a 2D map.
What I don’t understand is how it draws the “ellipsoid” in 3D space, seemingly without the help of the ROS framework.
The method outlined on page 22 of 4D robotics uses velodyne to create point clouds from the laser from a 3D pointcloud which are triangulated to an ellipsoid, and the points in the 4th dimension are recalculated to make a 3d representation of the 3D space using this ellipsoid.
If someone could explain how it does this I’d really appreciate it.
Thank you.
A:
There are two main parts of an SLAM process: first to reduce the size of the state space to a good approximation of reality, then a Kalman filter to make the model-based estimates of position and orientation more accurate.
OpenRAV is used here for the first part: it represents the shape of the environment as a regular grid of overlapping cubes (or octants for a non-Euclidean space), and when there are maps you can compute the shortest distance between them.
The grid
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