Handheld Mapping System in the RoboCup 2011 Rescue Arena
Why Robotics Stack Exchange recommends it
Robotics Stack Exchange users link it as the reference demo of what hector_slam can achieve with a lidar and IMU but no odometry, usually when their own maps drift or they ask how the setup works.
Recommended by 1 people across 1 different months, 2012 to 2024.
What it is
A 4-minute demo from Team Hector Darmstadt showing odometry-free 2D SLAM carried by hand through the RoboCup 2011 rescue arena. It uses a Hokuyo UTM-30LX lidar, a low-cost IMU and an Intel Atom CPU, and the dataset and hector_slam code for ROS are linked in the description.
What people said
Recommends ajain · 2015-01 · Robotics Stack Exchange · on “How to calculate /tf in hector_slam?”
Firstly, hector_slam is independent of /tf for laser ( watch this video [this video] ). You can simply have a laser attached to a computer and walk around to create a 2D map. I haven't used the bag file that you mentioned before, but usually the bag file should contain time stamped /tf data, or simply create a urdf.xacro config file for your system and load it using robot_state_publisher [LINK] to publish transforms. Originally posted by ajain [LINK] with karma: 281 on 2015-01-05 This answer was ACCEPTED on the original site Post score: 0 Original comments Comment by tn0432 [LINK] on 2015-01-06 : Thank you for your response! Regarding the case of having a laser attached to a computer, I am strugg
Cites Tirgo · 2012-08 · Robotics Stack Exchange · on “Hector_Slam mapping Hokuyo”
Hello I'm trying to create something similar to this [this video] , but i'm not able to create constant good maps. I'm using hector slam with the hokuyo URG-04LX and an imu for roll/pitch.(so no odometry) Some (indoor) maps are perfect, but if i try it again the map sometimes drifts and the position in rviz becomes weird. So my question is: Hector_slam creates its own odometry right? Or do i have to add odometry for proper map results? Or is my laser scanner to weak for hector, so that i need something like hokuyo UTM-30LX? Thx for your response Originally posted [LINK] by Tirgo [LINK] on ROS Answers with karma: 66 on 2012-08-31 Post score: 0
Cites dchang0 · 2016-01 · Robotics Stack Exchange · on “Neato XV-11 LIDAR hector_slam mapping without odometry at walking speeds?”
I was inspired by this video to get an XV-11 LIDAR for indoor mapping via hector_slam: [LINK] (Note that the walking speed is quite low--the video had to be sped up 2.5X.) I'm finding in practice that the results shown at the end of the video may be "at best"--my maps are messy and jump around/overlap on themselves. This is probably due to a problem with the particular XV-11 unit I received (that will be returned/exchanged because it sometimes emits 0.0mm readings for entire revolutions), but while researching the map's jumpiness/overlapping, I'm finding that people either gave up on the XV-11 and went to a higher-end LIDAR with a higher scan rate or added odometry, both of which increase th
Cites sivhaslee · 2024-04 · Robotics Stack Exchange · on “Implementing IMU on Hector SLAM”
I am working on a project where I need to create a map of buoys on a surface vehicle and return to the starting position after finishing the parkour. The problem is, using Hector SLAM only, both the map and the robot position gets inaccurate after each rotation: I think my best bet is to use IMU since I do not have odometry data. I found this video of handheld LiDAR mapping from the original creators of Hector SLAM where they mention in the description that they used a cheap IMU; [this video] Is there a way I can implement IMU to provide position data like they do in the video? I already looked into robot-localization but I could not find a way of using SLAM and IMU together.