Difference between revisions of "SLAM-assisted creation of a Look-Up Table Overview"
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In the following page we will go over the two phases necessary for SLAM-assisted creation of a Look-Up Table (LUT). In order to localize in an area using POLARIS, it is necessary to have a LUT that gives the global frame position of all the tags in that area. This global frame position consists of x-y-z global frame coordinate, and orientation of the tag with respect to the global frame. The information in the LUT is in the following order and delimited by commas: x,y,THETA,z. Where THETA is orientation of the tag with respect to the global frame. | In the following page we will go over the two phases necessary for SLAM-assisted creation of a Look-Up Table (LUT). In order to localize in an area using POLARIS, it is necessary to have a LUT that gives the global frame position of all the tags in that area. This global frame position consists of x-y-z global frame coordinate, and orientation of the tag with respect to the global frame. The information in the LUT is in the following order and delimited by commas: x,y,THETA,z. Where THETA is orientation of the tag with respect to the global frame. | ||
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Before localizing in an area, we must take care to make sure that no matter what part of the ceiling is in the field of view (FOV) of POLARIS, POLARIS is able to see at least one full tag. As the area increases, we must place more tags and therefore put more tag data in the LUT for that area. If we were to manually put together the LUT as discussed in the [[Manual Creation of a Look-Up Table (LUT)]] tutorial, we would have to manually measure each tag's x-y-z position and orientation (around the z-axis) with respect to the global frame. This can become tedious, therefore a system that expedites the process is desirable. | Before localizing in an area, we must take care to make sure that no matter what part of the ceiling is in the field of view (FOV) of POLARIS, POLARIS is able to see at least one full tag. As the area increases, we must place more tags and therefore put more tag data in the LUT for that area. If we were to manually put together the LUT as discussed in the [[Manual Creation of a Look-Up Table (LUT)]] tutorial, we would have to manually measure each tag's x-y-z position and orientation (around the z-axis) with respect to the global frame. This can become tedious, therefore a system that expedites the process is desirable. | ||
This page describes the system that will expedite the process of LUT creation. The system does so by utilizing both SLAM and the AprilTags module. A robot is driven under every tag while SLAM is running, therefore we know the position of POLARIS as it is positioned on top of the robot and the robot's position is known through SLAM. Additionally, while the robot is driven under the tags, the AprilTags module is used to identify tags. Then the local frame position of the tags and the global frame position of POLARIS are stored in text files along with an array keeping track of which tags successfully had their data stored. That concludes phase 1 of 2 of the system. | This page describes the system that will expedite the process of LUT creation. The system does so by utilizing both SLAM and the AprilTags module. A robot is driven under every tag while SLAM is running, therefore we know the position of POLARIS as it is positioned on top of the robot and the robot's position is known through SLAM. Additionally, while the robot is driven under the tags, the AprilTags module is used to identify tags. Then the local frame position of the tags and the global frame position of POLARIS are stored in text files along with an array keeping track of which tags successfully had their data stored. That concludes phase 1 of 2 of the system. | ||
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The second phase simply runs transformations on the data stored in the text files from phase 1 in order to solve for the global frame position of each tag in the area and build the LUT. That concludes phase 2 of 2 of the system. | The second phase simply runs transformations on the data stored in the text files from phase 1 in order to solve for the global frame position of each tag in the area and build the LUT. That concludes phase 2 of 2 of the system. | ||
Revision as of 13:25, 23 May 2015
In the following page we will go over the two phases necessary for SLAM-assisted creation of a Look-Up Table (LUT). In order to localize in an area using POLARIS, it is necessary to have a LUT that gives the global frame position of all the tags in that area. This global frame position consists of x-y-z global frame coordinate, and orientation of the tag with respect to the global frame. The information in the LUT is in the following order and delimited by commas: x,y,THETA,z. Where THETA is orientation of the tag with respect to the global frame.
Before localizing in an area, we must take care to make sure that no matter what part of the ceiling is in the field of view (FOV) of POLARIS, POLARIS is able to see at least one full tag. As the area increases, we must place more tags and therefore put more tag data in the LUT for that area. If we were to manually put together the LUT as discussed in the Manual Creation of a Look-Up Table (LUT) tutorial, we would have to manually measure each tag's x-y-z position and orientation (around the z-axis) with respect to the global frame. This can become tedious, therefore a system that expedites the process is desirable. This page describes the system that will expedite the process of LUT creation. The system does so by utilizing both SLAM and the AprilTags module. A robot is driven under every tag while SLAM is running, therefore we know the position of POLARIS as it is positioned on top of the robot and the robot's position is known through SLAM. Additionally, while the robot is driven under the tags, the AprilTags module is used to identify tags. Then the local frame position of the tags and the global frame position of POLARIS are stored in text files along with an array keeping track of which tags successfully had their data stored. That concludes phase 1 of 2 of the system.
The second phase simply runs transformations on the data stored in the text files from phase 1 in order to solve for the global frame position of each tag in the area and build the LUT. That concludes phase 2 of 2 of the system.
Phase I: DataWriter
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Phase II: LUTWriter
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