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My attempt at Lidar SLAM - Advice?
In this python simulation: a robot spins a sensor and receives the distance. I made the distance more inaccurate the farther it is from a wall. The white lines are the actual walls The green dots are the raw, inaccurate data points the blue lines are my attempt at trying to interpret the data points into walls The algorithm works like this: For every green dot, if there are two close dots, it finds the best fit line, deletes the middle dot, and moves the other two onto the best fit line. This averages out the slopes between the green dots to allow for slope comparison. For every green dot, if the angle of the lines connected the green dot in front and behind are similar, then they are clipped into just two dots (similar to the first filter). However, as you can see, it is making walls even farther off from the green points, especially for vertical sections. I suspect this is because I'm using y=mx+b, and the slope for a vertical line is undefined, so I think the algorithm has a hard time approaching that. For context, I'm an incoming freshman trying to design an algorithm for a roomba without any prior knowledge on SLAM algorithms, so I would greatly appreciate any resources for a better implementation or just general feedback. submitted by /u/ExerciseCrafty1412 [link] [Kommentare] reddit.com · reddit.com
In this python simulation: a robot spins a sensor and receives the distance. I made the distance more inaccurate the farther it is from a wall. The white lines are the actual walls The green dots are the raw, inaccurate data points the blue lines are my attempt at trying to interpret the data points into walls The algorithm works like this: For every green dot, if there are two close dots, it finds the best fit line, deletes the middle dot, and moves the other two onto the best fit line. This averages out the slopes between the green dots to allow for slope comparison. For every green dot, if the angle of the lines connected the green dot in front and behind are similar, then they are clipped into just two dots (similar to the first filter). However, as you can see, it is making walls even farther off from the green points, especially for vertical sections. I suspect this is because I'm using y=mx+b, and the slope for a vertical line is undefined, so I think the algorithm has a hard time approaching that. For context, I'm an incoming freshman trying to design an algorithm for a roomba without any prior knowledge on SLAM algorithms, so I would greatly appreciate any resources for a better implementation or just general feedback. submitted by /u/ExerciseCrafty1412 [link] [Kommentare]
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