If you need assistance, please send an email to forum at 4hv dot org. To ensure your email is not marked as spam, please include the phrase "4hv help" in the subject line. You can also find assistance via IRC, at irc.shadowworld.net, room #hvcomm.
Support 4hv.org!
Donate:
4hv.org is hosted on a dedicated server. Unfortunately, this server costs and we rely on the help of site members to keep 4hv.org running. Please consider donating. We will place your name on the thanks list and you'll be helping to keep 4hv.org alive and free for everyone. Members whose names appear in red bold have donated recently. Green bold denotes those who have recently donated to keep the server carbon neutral.
Special Thanks To:
Aaron Holmes
Aaron Wheeler
Adam Horden
Alan Scrimgeour
Andre
Andrew Haynes
Anonymous000
asabase
Austin Weil
barney
Barry
Bert Hickman
Bill Kukowski
Blitzorn
Brandon Paradelas
Bruce Bowling
BubeeMike
Byong Park
Cesiumsponge
Chris F.
Chris Hooper
Corey Worthington
Derek Woodroffe
Dalus
Dan Strother
Daniel Davis
Daniel Uhrenholt
datasheetarchive
Dave Billington
Dave Marshall
David F.
Dennis Rogers
drelectrix
Dr. John Gudenas
Dr. Spark
E.TexasTesla
eastvoltresearch
Eirik Taylor
Erik Dyakov
Erlend^SE
Finn Hammer
Firebug24k
GalliumMan
Gary Peterson
George Slade
GhostNull
Gordon Mcknight
Graham Armitage
Grant
GreySoul
Henry H
IamSmooth
In memory of Leo Powning
Jacob Cash
James Howells
James Pawson
Jeff Greenfield
Jeff Thomas
Jesse Frost
Jim Mitchell
jlr134
Joe Mastroianni
John Forcina
John Oberg
John Willcutt
Jon Newcomb
klugesmith
Leslie Wright
Lutz Hoffman
Mads Barnkob
Martin King
Mats Karlsson
Matt Gibson
Matthew Guidry
mbd
Michael D'Angelo
Mikkel
mileswaldron
mister_rf
Neil Foster
Nick de Smith
Nick Soroka
nicklenorp
Nik
Norman Stanley
Patrick Coleman
Paul Brodie
Paul Jordan
Paul Montgomery
Ped
Peter Krogen
Peter Terren
PhilGood
Richard Feldman
Robert Bush
Royce Bailey
Scott Fusare
Scott Newman
smiffy
Stella
Steven Busic
Steve Conner
Steve Jones
Steve Ward
Sulaiman
Thomas Coyle
Thomas A. Wallace
Thomas W
Timo
Torch
Ulf Jonsson
vasil
Vaxian
vladi mazzilli
wastehl
Weston
William Kim
William N.
William Stehl
Wesley Venis
The aforementioned have contributed financially to the continuing triumph of 4hv.org. They are deserving of my most heartfelt thanks.
Registered Member #2431
Joined: Tue Oct 13 2009, 09:47PM
Location: Chico, CA. USA
Posts: 5639
since im neck deep in other threads at the moment, i decided to dedicate one whole thread to SLAM.
(I am in no measure an expert in Comp Sci or programming, but I'd be grateful for help from those who are)
For those of you who dont know what "SLAM" is, ill sum it up. The purpose of Simultaneous Localization And Mapping is to allow computers and robots to answer two questions, what does the world look like, and where am i in it?
Without being able to answer those questions even a super-computer could do little but command a robot to waffle about randomly.
thus i give us a starting point: ]mit_slam_dummies.pdf[/file] PDF is 127 pages, but only the first 42 are expalining SLAM, the remainder is coded examples.
i predict in the near future, as cheap, fast, tiny 32bit MCU's (like the ARM Cortex and others), RPi's and beaglebones pop up, SLAM will start to find its way to the masses in high schools, colleges and Lego-like toys... (but as of now, its pretty ugly to sort out and use.)
This will be my continually growing list of sources: 1.) OpenSLAM.org ->
Things i must do list: -- figure out which compiler to use. -- Which slam to use, tinySLAM, GridSlam. -- (before flight) try simulations of a working slam (generate pics hopfully) -- make sure "loop closing", "landmark extraction" features work -- last, get all this onto a sub 100 gram board for flight experimetns. (probly RPi),(dont know if a STM32F4 is possible)
Registered Member #2431
Joined: Tue Oct 13 2009, 09:47PM
Location: Chico, CA. USA
Posts: 5639
im trying to get things going again, between programming and the physical machine itself. to update and as for help on this thread i cite these links:
(TinySLAM)
(C code, from the above link)
They claim a SLAM program in 200 lines of C, but are there other requirements? id like to avoid dragging a full sized laptop mainboard around the sky, but i dont see SLAMs that seem to work on Rasberry Pi pr better still a STM32 or similar.
keep in mind its been 10 years since ive done C++, so im trying to figure out some things, like if the 200 lines call other functions that are huge on a main x86 architecture that cant be done on a Rpi. it seems like this would be really important and already solved for small ground bots, if it didnt have outrageous computing requirements.
Registered Member #30
Joined: Fri Feb 03 2006, 10:52AM
Location: Glasgow, Scotland
Posts: 6706
I don't see anything too outrageous in this code. It should work on anything that has hardware floating point math and a reasonable amount of memory. They used a 2048*2048 array of 16-bit integers for the map, so that takes up 8MB of memory by itself, more than a STM32 has onboard, but no problem for a Raspberry Pi or Beaglebone Black etc.
Registered Member #2431
Joined: Tue Oct 13 2009, 09:47PM
Location: Chico, CA. USA
Posts: 5639
Steve Conner wrote ...
I don't see anything too outrageous in this code. It should work on anything that has hardware floating point math and a reasonable amount of memory. They used a 2048*2048 array of 16-bit integers for the map, so that takes up 8MB of memory by itself, more than a STM32 has onboard, but no problem for a Raspberry Pi or Beaglebone Black etc.
Im pondering external memory, since ill need some other features too. ill need to track my machines current posistion and other moving objects, and theyre future vector.
the professors are really pushing mission 7, which is meant to do things simultaneously never done before, autonomously.
This site is powered by e107, which is released under the GNU GPL License. All work on this site, except where otherwise noted, is licensed under a Creative Commons Attribution-ShareAlike 2.5 License. By submitting any information to this site, you agree that anything submitted will be so licensed. Please read our Disclaimer and Policies page for information on your rights and responsibilities regarding this site.
SLAM for Dummies Like Me!!!
