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Answers to frequently asked questions regarding Triton Floor-LOC localization system.
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Triton Floor-LOC
Table of Contents
General questions
Question
Answer
Which floors are compatible with Triton?
Concrete floors with sufficient nuances (wear & dirt), with potential an anti-static coating to avoid dust gathering. The coating also seals the concrete from liquid penetration, to avoid temporary dark(er) spots on the floor.
All other floor types need to be tested in collaboration with Accerion.
Read more about it in the Quickstart guide.
What is the field-of-view of Triton and how much of the image do I need to see to recognize it?
When mounted at 4cm of the floor, Triton's field-of-view is approximately 7cm by 5cm. Depending on mount alignment, Triton has a match range of up to 4cm. In other words: if your Triton map consists of a line, you can deviate up to 4cm left/right from that line and still recognize it.
What does the color of the LED on my sensor indicate?
What does 'Idle mode' do? What can't I do in this mode?
In ‘Idle mode’, the sensor will not look for matches in it’s database, or use relative tracking. This results in a significant reduction in power usage (max 6 Watts). Note: In Idle mode you can not send or retrieve a map to or from the sensor.
I can not connect to my sensor / I can not see my sensor in the GUI
If you can not ping the sensor: check your adapter settings.
If the HMI LED's stay yellow for more than 5 minutes after powering on: check your electrical connection.
I changed the sample rate of my sensor, but I still receive data on the old sample rate?
Please reboot or power cycle the sensor after changing the sample rate
What is the best location and orientation to mount my sensor?
Please read the Quickstart guide.
Triton's technology concept
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Answer
I used Lidar before, how can I use your sensor to do the same?
We advice to map a grid to allow for free navigation. Please follow the Integration Guide in the ROS or ROS2 repository.
What is a signature?
When Triton is mapping the floor, its camera takes an image of the floor and stores a mathematical abstraction of that image in its database. That unique mathematical abstraction is referred to as a signature
What is a cluster? Can I remove a specific cluster?
A cluster is basically a set of signatures. For line-following applications, every line you want to follow can be a cluster (with a unique cluster ID). In case of a grid map, every horizontal and vertical line could be a cluster. As these clusters have a unique cluster ID it is always possible to remove a specific cluster (either via ROS, the API or the GUI) so you can map a new one.
Triton software integration
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Where should I send odometry and/or Lidar pose data to Triton?
For easier integration, we created the Accerion Pose Manager (ROS/ROS2/C++). Once configured by the user, this framework will take care of sending the necessary information to Triton. For more information, please read the README in the repository of your interface (ROS/ROS2/C++).
Triton functionality
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Answer
What can I do with Triton?
Triton can provide absolute poses (position and heading) based on a map, as well as visual odometry. For more information on the concept of Triton, read the Quickstart guide.
What signals/sensor data do I need to provide to Triton?
Triton localizes on a map. This map is created by providing poses (position + heading) to the Triton. For example, you can use a SLAM system, high accuracy odometry, Vicon, Optitrack, … systems to build this map.
After building a map, Triton will look in its database to match the floor it ‘sees’ with the map. To make this search as efficient as possible, the user is expected to provide the best estimate of Triton’s pose to Triton. For easier integration, we created the Accerion Pose Manager. Once configured by the user, this framework will take care of sending the necessary information to Triton. For more information, read the Quickstart guide.
What is the impact of a high search radius?
With increasing search radius, Triton will try to match the floor segment it is located on with a lot of entries in its database. Therefore, it takes longer to find a match.
What does "No external reference pose input" in the GUI mean?
What are the localization options provided by Triton?
Absolute localization based on floor map recognition (drift corrections) and visual odometry. For more information on the concept of Triton, read the Quickstart guide.
Does Triton provide an uncertainty/confidence score for drift corrections (absolute poses)?
Triton does provide a standard deviation (C++) or covariance (ROS/ROS2) for every absolute pose. Note that this is a measure of repeat accuracy, not global accuracy.
I do not receive a drift correction when my vehicle is not in the orientation when I mapped the cluster?
Most likely the transformation from your external reference to Triton is incorrect. Often the root cause is a wrong robot description, i.e., description of the transformation between Triton and the external reference.
Mapping
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Answer
What is mapping?
Accerion sensors localize by looking at the floor. In mapping mode, the sensor captures the floor segment and links this to (x,y,heading). Then, this floor segment is stored in a database.
For more information on the concept of Triton, read the Quickstart guide.
Why is LiDAR-localization needed for mapping?
Using LiDAR-localization as external reference ensures that the Triton map is globally accurate (and its coordinate system aligned with that from the LiDAR-localization in case you want to combine the two).
Mapping with just odometry is therefore not advices, as it will introduce drift in the Triton map. Under certain circumstances (for teach and repeat docking) it is possible to use odometry as external reference, but consultancy from SICK is advised.
How can I visualize my Triton map?
Please follow the Integration Guide step on Mapping to learn how you can visualize your map.
What spacing do you advice for a free navigation (grid map)?
The spacing between the lines of the grid (grid spacing) determines how often you will receive drift corrections. As a rule of thumb, we advice a grid with 0.5 meter spacing. If accuracy is really important, use 0.25m.
When mapping a grid, do I need to do every vertical/horizontal line as a separate cluster?
You can also map a grid as just one cluster. However, for larger maps we advice to split it up in multiple clusters, such that you can remove a particular cluster and remap if something went wrong.
I can not send a map to my Triton?
Make sure the path of the file (map or update file) does only contain normal characters (numbers and text only, for windows users: path should have no spaces). If the above does not work, try to move the file to your /Downloads folder, and try again.
Accerion control center (GUI)
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Answer
I can not retrieve the Log files from my sensor
Please power cycle the sensor, restart Accerion Control Center and try again.
I can not retrieve a Map file from my sensor
Please power cycle the sensor, restart Accerion Control Center and try again. If problems persist, contact Accerion.
I can not see my sensor after I changed the IP address in the GUI
Please perform a power cycle on the sensor (unplug and plug in power cable)
While sending a map to my sensor, the status bar is stuck/does not progress
Please perform a power cycle on the sensor (unplug and plug in power cable), clear the cluster library and try again.
When I try send a map or try to update Triton, the GUI crashes.
Please ensure the GUI version is matching the Triton software version. Also make sure the path of the file (map or update file) does only contain normal characters (numbers and text only, for windows users: path should have no spaces). If the above does not work, try to move the file to your /Downloads folder, and try again.
During map handling (retrieving/uploading) I get "Map could not be retrieved..."
Please check if CM mode is toggled on, if so, turn it off and try again. Per 6.1.1, the uploading is captured with a warning (please see Q below).
When uploading a map, I get "File transfer not available"
If you get this msg while uploading a map file to your sensor, check if CM mode is turned on. If so, turn it off and try again
This is correct. The heartbeat is only sent over UDP. If using TCP, you can use other periodic messages like the Diagnostics to monitor if the Triton is still connected.
Triton logs
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Answer
I'm not able to retrieve the logs from my sensor
Please remove the power cable from the sensor. Then, close Accerion Control Center. Next, restart Accerion Control Center and turn on the sensor. If you still experience troubles, contact Accerion.
Which information is included in the ARAMS log files?
Which information is included in the ARAMS log files?
Misc
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Answer
How do I clean the bottom window of the Triton?
Due to some static electricity and being in operation for long time, some dust might accumulate on the camera window. Smaller bits of dust will not have a major effect on the Triton. But of course, at some point it might need some cleaning, hence the following instructions:
