Questions tagged [odometry]

Odometry is the use of data from moving sensors to estimate change in position over time.

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How to implement a 4 Mecanum wheel Robot kinematic model Practically in code?

Above is the Kinematic model of a 4 wheeled from https://cdn.intechopen.com/pdfs/465/InTechOmnidirectional_mobile_robot_design_and_implementation.pdf, My question is how to use these kinematic ...
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39 views

How to do odometry for 4 mecanum wheeled robot?

I need to do odometry for a 4 mecanum wheeled robot for indoor applications. Is it possible to do it with just wheel encoders and IMU sensors? If possible, how? It will be of great help if someone ...
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36 views

Relying on odometry for 100 meters

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 ...
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101 views

How to use a map created with odometry

I'm using ROS Melodic with Gazebo 9 in an Ubuntu 18.04.2 LTS. I'm studying a robotics subject at the university and I have to create a map of a closed room with one obstacle using only odometry. The ...
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ECEF postion vs. LAT/LON/Height position with odometry

So I do have a wheeled robot and I want to fuse position data with odometry data. Someone suggested using the position encoded in ECEF rather than using the LAT/LON/Height information I get from the ...
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1answer
594 views

EKF implementation on odometry/IMU

I am applying Extended Kalman Filter for a mobile robot with IMU and odometry data. I am running simulation currently. However, I don't have suitable data for odo/IMU measurements to use. Where can I ...
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1answer
63 views

2D Visual-Inertial Extended Kalman Filter

I am trying to implement an Extended Kalman filtering for combining IMU data and visual odometry in a simple 2D case where I have a robot that that can only accelerate in its local forward direction ...
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1answer
112 views

GraphSLAM data accumulation problem

I try to implement GraphSLAM from this tutorial, The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures. I have some doubt while studying this paper. I hope people who ...
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ICP results as command in odometry motion model

im going through the odometry motion model proposed by Thurn in Probabilistic Robotics famous book and i have some questions concerning the kind of command that we can use. I will explain more my ...
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1answer
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Is odometry necessary for Vector Field Histogram?

I've read the VFH paper and now reading the VFH+. Odometry does not seem to be necessary, but I'm kind of confused about the grid and how to track how much distance the robot has traveled between ...
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How to combine odometry information with time-shifted information from IMU?

I'm working with a differential-drive robot that has odometry measurements from wheel shaft encoders and heading information from an IMU (I'm using BNO055 in IMU mode to get Euler angles, primarily ...
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Vehicle Odometry Correction Using Lidar Contour Points (Localization)

I am currently working on a project where... Vehicle travels from point A to B GPS trajectory is used as a reference Vehicle odometry (bicycle model without slip angle beta) was used to estimate a ...
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54 views

SLAM techniques based on contact, odometry and one front camera

Consider a mobile robot provided with a contact sensor that randomly travels in a closed environment, changing direction every time an obstacle is encountered. Is it possible to reconstruct the 2D map ...
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1answer
32 views

Motion model and homogeneous transformation issue on a drone

I am trying to develop a EKF-SLAM algorithm for a drone, and I want to estimate its position in the inertial/world reference frame. I have as control variables the linear and angular velocities in the ...
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Kalman Filter for 2d pose

I'm really sorry if this is a dumb question, but I don't have a clue on how to do this. I'm trying to write a kalman filter with a State vector of : {x, y, ẋ, ẏ, ẍ, ÿ } To estimate the 2 dimensional ...
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285 views

Convert Vehicle coordinates to World coordinates for positioning

I'm tracking the position of a vehicle along a certain trajectory using the Kalman filter and the idea is to check for improvements in position estimation through fusion of data from multiple sensors (...
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49 views

Kalman filter with missing dimension on measurement input

I am exploring the option of using a EKF with my differential drive robot. I do not have any prior experience with kalman filters. The robot that is under consideration has two wheel encoders for ...
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Dead reckoning position estimation

I attached two quadrature optical encoders to the wheel of the mobile robot. I also have imu6050 attached to the breadboard to calculate the orientation of the wheel mobile robot localization. I want ...
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1answer
285 views

What are wheel ticks and wheel impulses?

I'm tracking the position of a vehicle along a certain trajectory using the Kalman filter and we have odometry data provided to us which gives the x-position of the vehicle, y-position of the vehicle ...
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25 views

Caculate/Specify the covariance matrix for a omniwheel robot

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 ...
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719 views

IMU and encoder fusion

I'm trying to simulate data fusion for a 4-wheeled mobile robot using ekf and am using IMU and wheel encoders as sensors,where IMU measures linear acceleration and angular velocity and encoder ...
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1answer
234 views

How to properly initialize every new pose in a Visual SLAM algorithm (namely DSO)?

My question is a bit specific, because it is linked to a certain algorithm. Therefore I didn't find any other solutions on how to go about this problem. If you could refer me to research papers, ...
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45 views

Odometry using wheel encoder with no differential drive

I am currently looking for a way to do odometry using wheel encoders, for a car that has no differential drive. The two rear wheel would rotate at the exact same speed. I have been looking everywhere ...
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Problem understanding a paper about visual odometry

I am reading the following paper: SVO: Semi-Direct Visual Odometry for Monocular and Multi-Camera Systems , and I am having some problem understanding some concepts. Before starting I have to say ...
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How can I calculate odometry given two poses?

I have the pose at times t - 1 and time t. We are given: that the the new pose, at time t, is $$x_{t - 1} = [0,0,pi/6]$$ $$x_{t} = [0.2,0.1,(11*pi)/60]$$ (Where the vectors are [x, y, theta] with ...
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What is inverse depth (in odometry) and why would I use it?

Reading some papers about visual odometry, many use inverse depth. Is it only the mathematical inverse of the depth (meaning 1/d) or does it represent something else. And what are the advantages of ...
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How to calculate encoders odometry covariance

I am currently working on ROS based autonomous skid steered robot . as I have seen in the literature the base controller needs to subscribe to the geometry_msgs/cmd_vel topic output by the move_base ...
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two wheel mobile robot odometry

I am using an encoder to calculate the position and orientation of a mobile robot. The robot has two-wheel and each wheel is attached with an encoder, the result I am getting for my position x,y and ...
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How to estimate relative scale correctly in a Monocular SFM system?

I am quite new to this whole SFM and VO stuff and I am sometimes really impressed what is possible. Therefore I decided to do my own very basic project, toget in touch with this stuff. Everything ...
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59 views

Fusing IMU sensor with odometry

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

How to calculate heading more accurately using dead wheels?

I am trying to figure out a more accurate way to calculate the change in the heading of a robot. I have two small omni wheels on either side of the robot facing forward and one on the right side ...
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Implementing a high-level PID controller which uses odometry in diff drive wheeled robot

How I can implement a high level PID controller that uses odometry to couple both motors in a diff drive wheeled robot? This is my try: From the motor controller, I can get the estimated speed in ...
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IMU + odometer SLAM techniques without vision and depth

Consider a mobile robot provided with a contact sensor that randomly travels in a closed environment, changing direction every time an obstacle is encountered. Is it possible to reconstruct the 2D map ...
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2answers
474 views

/odom topics not matching ERROR

I have an existing ROS workspace which was built in C++. I am trying to implement a node built by The Construct in python which reads distance travelled from the ...
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Odometry heading and laser scan heading not point to same direction

please help, after so much research still cant find a single solution from google. some say offset, but there is no offset in the configuration. problem: odom direction and laser scan heading didnt ...
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ROS Gazebo Odometry Issue

I am setting up a Gazebo model for use with the navigation stack. I have been reading the Navigation Tuning Guide and am confused about the lidar data in the odom frame. I would think that the tuning ...
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What's the difference between the term “pose estimation” and “visual odometry”?

I'm reading a paper: Choi C, Trevor A J B, Christensen H I. RGB-D edge detection and edge-based registration[C]//Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on....
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Robot moves sideways in RVIZ ROS

I'm using robot_localization to fuse odom, imu and gps data on a husky robot. After fusion, the robot now moves forward in gazebo but sideways in rviz. I found this question. But the suggested ...
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Sampling from guassian distribution for odometry based motion?

I am trying to generate an odometry based motion model as described in the lectures. I have implemented a C++ version of the code. The issue I am having is that when I try to simulate successive ...
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How to publish odometry from 3 wheeled omnidirectional robot?

I'm new to ROS and robotics and I'm trying to implement the ROS navigation stack in a 3 wheeled omnidirectional robot. I already made the map using RTABMap but now I'm stuck in the 'Publishing ...
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In practical terms, how close is the accuracy of camera-based visual odometry/SLAM methods to lidar-based methods for autonomous car navigation?

Benedict Evans, a general partner at Andreessen Horowitz, claims that “almost all autonomy” projects are using lidar for SLAM, and that not all of them use HD maps. An MIT group is testing self-...
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54 views

Lost on Graph slam's loop cloursure

What is the definition of loop closure in Graph Slam? Ref: Graph Slam The theory of Graph Slam define here but I think there is no hints about loop closure. I give this reference for review ...
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Robot localization using sensor fusion (How to model the Extended Kalman Filter)?

I am new to the robotics field and sensor fusion as well. I am trying to localize my robot using the data from my camera and the odometery through extended Kalman filter. I have the data offline, I ...
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Kalman filter with measurements indirectly determining state

I have a question regarding a 'fundamental' understanding of the Kalman filter. So, for my application I'm trying to estimate state $x = [\theta~\dot{\theta}~\ddot{\theta}]$ of a robot based on ...
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Wheeled Mobile Robot State Estimation Model Using Odometry

I have a process model update that follows the form: $$ \mathbf{x}_{k|k-1} = \mathbf{x}_{k-1|k-1} + \delta \mathbf{x}_k, $$ where $\mathbf{x}_{k-1|k-1}$ is the posterior estimate from the last ...
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Wheel Odometry Covariance Matrix for Custom Robot

I have been looking around in the forums, but could not find any answer for how to go about getting the wheel odometry covariance matrix for a custom built planar robot (I found some posts related to ...
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2answers
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Why use GraphSLAM?

I am doing some project on Slam. I have a data set of a moving Robot which can give me the value of forward velocity(m/s) and angular velocity(rad/s) and time(s). Now if this data are provided I can ...
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1answer
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Why adding odometry data as control vectors to EKF-Monoslam algorithm fails?

I am working on EKF-MonoSlam (Davson) method for the mere input as a webcam, (it works "fine" if we calibrate and use reasonable sigmas) , and I am trying to add the odometry of some dataset (as ...
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1answer
200 views

Find out Robot Coordinate using odometer data

I have a data set name Robot_odometery which consist of 3 field namely, Time(s),Forward velocity(m/s) and angular velocity(rad/s). I taken this dataset from http://asrl.utias.utoronto.ca/datasets/...
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2answers
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Ackermann Motion Model Does not Drive in an Arc, but Turns on the Spot

Im trying to implement an ackermann motion model which estimates the x,y and theta for a robot I have. I have a gazebo simulation running which publishes a steering angle for the virtual tricycle ...