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Fiducial based robot relocalization for AMCL

asked 2018-04-23 13:23:06 -0600

142 ●17 ●24 ●27 http://chrissunny94.github.io/

I want to use a transform from Fiducial marker to re-localize my odometry on AMCL .

https://github.com/UbiquityRobotics/f... , i intend to use this .

The idea is to have a fixed fiducial on the map , demarcating the home location
Once the fiducial is detected , the robots current position is relocalized based on the tf from the tracker .

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What is your question?

jayess ( 2018-04-23 13:45:57 -0600 )edit

Once the robot sees a AR_tracker , it should relocalize .

Its kind of like a 'homing' mechanism.

When AMCL starts , it starts at some random coordinate , post which the odometry estimation is often wrong . I want to put in a correction mechanism .

chrissunny94 ( 2018-04-23 13:56:40 -0600 )edit

Ok, but what is your question? You're giving statements, but no question.

jayess ( 2018-04-23 14:00:18 -0600 )edit

@jarvisschultz ,

Thanks solved the problem . I didnt see the inirialpose before .

chrissunny94 ( 2018-04-25 01:17:56 -0600 )edit

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answered 2018-04-23 14:36:39 -0600

flag of United States of America

9031 ●58 ●128 ●143 https://www.linkedin.c...

updated 2018-04-25 07:07:07 -0600

One option would be to add use the initialpose topic to completely re-initialize your particle filter whenever you see a known fiducial.

Perhaps a better choice would be to include fiducial measurements into robot_localization as a measurement source. Then the filtered estimate from robot_localization will produce a much more accurate tf tree that amcl can use.

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Asked: 2018-04-23 13:23:06 -0600

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Last updated: Apr 25 '18

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