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Would fusing Odometry estimation with IMU sensor increase the accuracy of estimation for planar differential drive robots?

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Yes.

Example of this can be found here.

Depending on how good your modeling is you could also use the IMU to help detect wheel slippage.

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  • $\begingroup$ Thank you. The link is quite helpful. $\endgroup$
    – Pasha
    Jan 16, 2020 at 22:02

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