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I have an omnidirectional robot (x, y and rotation around z), which I would like to use the SLAM-algorithm from ROS. But the odometry from the robot has a drift, which makes some error. To improve the odometry error I need to calculate or specify the covariance matrix. How do I do that on a real system?

Regards Markus

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If you want to start from first principals there's a pretty thorough paper here

There's a question here which is related Calculate covariance matrix from x,y,z data

And there's some pretty practical advice here: https://answers.ros.org/question/12642/calculating-covariances-of-robots-odometry/

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