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Use of entropy

asked 2014-03-12 03:02:02 -0500

Josejgarcia gravatar image

updated 2016-10-24 08:36:22 -0500

ngrennan gravatar image

Hello all!

I am studying slam in a real indoor environment using a Pionner robot and a hokuyo laser. After getting a map i can see if the data association is correct or not but i would like to compare analitically the whole process. Gmapping has a publisher with the entropy over the robot pose. Does anyone do anything with the entropy? I´m trying to study the values of the entropy but it use to be constant.

In case i not use the entropy, is there an easy way to get values of the uncertainty of the position?

Thanks in advance Regards

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answered 2014-03-12 09:05:21 -0500

jbinney gravatar image

It looks like the entropy over the pose is computed in a reasonable way: https://github.com/ros-perception/sla...

Is it not giving reasonable values? You can try using slam_gmapping from source and adding publishers for different kinds of uncertainty (try mean square error if you don't like entropy).

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What you say is true, but I think there is another question: it seems that the entropy calculated in Gmapping has not been used? It really confused me.

arahp gravatar image arahp  ( 2020-01-14 20:48:56 -0500 )edit

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Asked: 2014-03-12 03:02:02 -0500

Seen: 387 times

Last updated: Mar 12 '14