Context: I am working with the SFU Mountain Dataset [http://autonomylab.org/sfu-mountain-dataset/]
I have used the following state update equations (Husky A200 - differential drive)
State Update - from Prob. Robotics, Thrun et. al
[x' y' theta'] represent the state at the next time step
After plotting the x and y positions based on just the wheel encoder data (v_fwd and w -> the dataset provides these directly, instead on the vr and vl), the curve seems to be quite weird and unexpected. Wheel Odometry Data - http://autolab.cmpt.sfu.ca/files/datasets/sfu-mountain-workshop-version/sfu-mountain-torrent/encoder-dry-a.tgz
Question: Is the above curve expected (considering the inaccuracy of wheel odometry) or is there something I'm missing? If the wheel encoder data is that bad, will an EKF (odom + imu) even work?
PS: I'm not worried about the EKF (update step) just as yet. What concerns me more is the horrible wheel odometry data.