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I've seen several examples of SLAM algorithms (EKF SLAM, Graph SLAM, SEIF SLAM) written in terms of the velocity motion modelvelocity motion model. I have yet to see an example of any SLAM algorithm utilizing the odometry motion model. I wonder if there is an inherent advantage to using the velocity motion model over the odometry model for this problem. Does it have something to do with the fact that odometry sensor information comes after the motion has already taken place, whereas velocity control commands are executed before motion?

I've seen several examples of SLAM algorithms (EKF SLAM, Graph SLAM, SEIF SLAM) written in terms of the velocity motion model. I have yet to see an example of any SLAM algorithm utilizing the odometry motion model. I wonder if there is an inherent advantage to using the velocity motion model over the odometry model for this problem. Does it have something to do with the fact that odometry sensor information comes after the motion has already taken place, whereas velocity control commands are executed before motion?

I've seen several examples of SLAM algorithms (EKF SLAM, Graph SLAM, SEIF SLAM) written in terms of the velocity motion model. I have yet to see an example of any SLAM algorithm utilizing the odometry motion model. I wonder if there is an inherent advantage to using the velocity motion model over the odometry model for this problem. Does it have something to do with the fact that odometry sensor information comes after the motion has already taken place, whereas velocity control commands are executed before motion?

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Paul
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Velocity vs. Odometry Motion Model: which is best Is there any advantage to velocity motion models over odometry motion models for SLAM?

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Paul
Paul
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Velocity vs. Odometry Motion Model: which is best for SLAM?

I've seen several examples of SLAM algorithms (EKF SLAM, Graph SLAM, SEIF SLAM) written in terms of the velocity motion model. I have yet to see an example of any SLAM algorithm utilizing the odometry motion model. I wonder if there is an inherent advantage to using the velocity motion model over the odometry model for this problem. Does it have something to do with the fact that odometry sensor information comes after the motion has already taken place, whereas velocity control commands are executed before motion?