{"id":41,"date":"2024-04-04T08:01:24","date_gmt":"2024-04-04T05:01:24","guid":{"rendered":"https:\/\/sisu.ut.ee\/rosak\/slam\/"},"modified":"2024-04-04T08:03:57","modified_gmt":"2024-04-04T05:03:57","slug":"slam","status":"publish","type":"page","link":"https:\/\/sisu.ut.ee\/rosak\/slam\/","title":{"rendered":"4. SLAM"},"content":{"rendered":"<blockquote>\n<p>\n\t\t<strong>Robootikas v\u00f5ib sageli kuulda terminit SLAM. Mis on SLAM ja kuidas see t\u00f6\u00f6tab?<\/strong>\n\t<\/p>\n<\/blockquote>\n<p>\n\t<span id=\"docs-internal-guid-0399dc64-7fff-541d-ae9a-5d415c9a07b2\">SLAM on samaaegselt lokaliseerimine ja kaardistamine (ingl <\/span><em><span>Simultaneous Localisation and Mapping<\/span><\/em><span>).<\/span>\n<\/p>\n<p>\n\t<span id=\"docs-internal-guid-da02dec9-7fff-b7e6-9fe4-22d27d6adf07\">Seni oleme vaadelnud juba olemasoleva kaardi abil lokaliseerimist. Kaardi loomiseks peaksime aga selle ja k\u00f5ik huvipakkuvad punktid sellel k\u00e4sitsi joonistama, mis on v\u00e4ga ajamahukas t\u00f6\u00f6.<\/span>\n<\/p>\n<p>\n\t<span id=\"docs-internal-guid-4b2942b5-7fff-1ada-f36e-505fff734200\">Lihtsam meetod on kasutada roboti sensoreid (n\u00e4iteks kaamerat), et luua kaart, kui robot liigub toas ringi. Robot sk\u00e4nnib kaaderhaaval keskkonda. Hiljem saab neist kaadritest t\u00fckkhaaval kaardi kokku panna. Selleks aga on vaja teada, kus robot iga kaadri salvestamise hetkel oli ehk mis oli roboti vaatepunkt. Seda probleemi illustreerib allolev joonis.<\/span>\n<\/p>\n<p>\n\t<img loading=\"lazy\" decoding=\"async\" width=\"855\" height=\"719\" class=\"alignnone wp-image-122\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/slamproblem-est.png\" title=\"slamproblem-est.png\" alt=\".\" srcset=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/slamproblem-est.png 855w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/slamproblem-est-300x252.png 300w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/slamproblem-est-768x646.png 768w\" sizes=\"auto, (max-width: 855px) 100vw, 855px\">\n<\/p>\n<hr>\n<p>\n\tSelles harjutuses on kasutatud ja mugandatud David Kostolani (TU Wien) loodud \u00f5ppematerjale.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Robootikas v\u00f5ib sageli kuulda terminit SLAM. Mis on SLAM ja kuidas see t\u00f6\u00f6tab? SLAM on samaaegselt lokaliseerimine ja kaardistamine (ingl Simultaneous Localisation and Mapping). Seni oleme vaadelnud juba olemasoleva kaardi abil lokaliseerimist. Kaardi loomiseks peaksime aga selle ja k\u00f5ik huvipakkuvad &#8230;<\/p>\n","protected":false},"author":98,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_acf_changed":false,"inline_featured_image":false,"footnotes":""},"class_list":["post-41","page","type-page","status-publish","hentry"],"acf":[],"_links":{"self":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/41","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/users\/98"}],"replies":[{"embeddable":true,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/comments?post=41"}],"version-history":[{"count":1,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/41\/revisions"}],"predecessor-version":[{"id":360,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/41\/revisions\/360"}],"wp:attachment":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/media?parent=41"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}