I am using 4 mecanum wheeled robot and have recently tested its wheel odometry. It was accurate to about 5-10 cm.

How sensible is it to use the wheel odometry for 100 meters after which I have some external sensors that can correct the pose and orientation?

P.S. For orientation estimation I am using IMU, wheel odometry is only used for translational calculation

  • $\begingroup$ 5-10 cm error over a 100 m seems pretty good $\endgroup$
    – jsotola
    Commented Sep 29, 2020 at 16:19
  • $\begingroup$ @jsotola What do you usually get? $\endgroup$ Commented Sep 29, 2020 at 16:58
  • $\begingroup$ Welcome to Robotics Alisher Kassymov. Unfortunately, it might be hard for our members to answer this question because odometry error depends so much on the specifics of your robot and environment. We prefer practical, answerable questions based on actual problems that you face. Can you edit the question to add detail, diagrams, and pictures? $\endgroup$
    – Ben
    Commented Oct 1, 2020 at 12:24

1 Answer 1


5-10cm isn't too bad after 100m. Obviously this is kind of subjective because I don't know what hardware you are using. You could be using the cheapest encoders on the market for all I know. That being said, it's pretty good. I'd expect to see around 0.1% error in odometry without anything fancy like SLAM.


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