We’re rewarding the question askers & reputations are being recalculated! Read more.

Questions tagged [odometry]

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

Filter by
Sorted by
Tagged with
0
votes
2answers
64 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 (...
0
votes
1answer
26 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 ...
0
votes
0answers
26 views

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 ...
0
votes
1answer
78 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 ...
0
votes
2answers
92 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 ...
0
votes
1answer
25 views

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 ...
0
votes
1answer
56 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 ...
3
votes
1answer
887 views

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 ...
0
votes
2answers
288 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 ...
4
votes
6answers
5k views

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....
0
votes
0answers
35 views

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 ...
1
vote
1answer
506 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 ...
0
votes
0answers
17 views

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 ...
0
votes
1answer
85 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 ...
2
votes
0answers
152 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, ...
1
vote
0answers
61 views

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 ...
8
votes
1answer
195 views

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-...
1
vote
1answer
50 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 ...
0
votes
1answer
81 views

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 ...
1
vote
0answers
34 views

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 ...
2
votes
0answers
77 views

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 ...
5
votes
2answers
3k views

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 ...
2
votes
2answers
72 views

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 ...
1
vote
1answer
110 views

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 ...
1
vote
1answer
165 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/...
1
vote
2answers
247 views

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 ...
1
vote
1answer
83 views

SE3 composition operator gives unexpected results

Given Data and Algorithm I have a stream of SE3 poses supplied by a basic wheel encoder odometry through ROS message passing system. Odometry publishes data in traditional to ROS ENU coordinate frame ...
0
votes
2answers
111 views

Robot heading uncertainty values

I'm tracking the state of a robot using an EKF defined by: $$(x,y,\theta)$$ where $x$ and $y$ are the coordinates in the ground-plane and $\theta$ the heading angle. I initialized the covariance ...
13
votes
4answers
7k views

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 ...
2
votes
1answer
361 views

State prediction of vehicle with Ackermann steering geometry using Kalman-Filter

I am trying to have a Kalman-Filter (or Extended-KF) give me positions for a small remotely controlled vehicle with an Ackermann steering geometry (moving on a plane surface). The control commands I ...
3
votes
1answer
289 views

Wheel odometry simulation using ground truth

I'm tracking the state of a robot $X=(x,y,\theta)$ where $x$ and $y$ are the ground coordinates and $\theta$ the heading angle. I have the ground truth states $X_{gt}=(x_{gt},y_{gt},\theta_{gt})$. I ...
0
votes
1answer
382 views

Encoder for odometry (Wheel vs motor)

Hey i am building a ROS enabled robot which relies on Odometry data from encoders for the purpose of SLAM . I am confused between what would be more accurate in estimating the pose and robot ...
2
votes
0answers
67 views

Effectiveness of visual odometry algorithms (CPU usage)

My robot needs to obtain visual odometry, with a condition that the used algorithm has to have as low computational requirements as possible and the used camera/sensor shouldn't be very expensive. The ...
5
votes
1answer
5k views

How do monocular visual odometry algorithms work? [closed]

What is the core principle of a monocular visual odometry algorithm? I mean, after calibrating a single camera (undistortion etc.) images are fed into an algorithm - what exactly does this algorithm ...
1
vote
1answer
287 views

Why the IMU measurements only accumulate drift in 4DOF

I'm studying the Technical Report of VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator available at: https://github.com/HKUST-Aerial-Robotics/VINS-Mono/blob/master/...
16
votes
2answers
6k views

How to choose a good IMU for a wheeled robot?

At our lab, we have a several "Kurt" type robots (about the size of a Pioneer, six wheels, differential drive). The built-in gyroscopes are by now really outdated; the main problem is that the ...
0
votes
2answers
601 views

Full 3D Pose (Scale, Rotation and Translation) Estimation using Gyro and Acceleromter sensors fusion

I am implementing a 3D pose estimation algoriothm on mobile device (Android) which has Gyro, Accelerometer and Magnetometer sensors. I have already develeoped a Visual SLAM algoirthm to estimate full ...
8
votes
4answers
10k views

Odometry vs Dead-reckoning

In terms of robotics, what are the differences between odometry and dead-reckoning? I read that odometry uses wheel sensors to estimate position, and dead-reckoning also uses wheel sensors, but "...
1
vote
1answer
133 views

Markov Localization using control as an input

When using Hidden Markov Models in Global Localization problems on the prediction step there is a need to calculate the probability of robot's pose given the actions (control u, odometry): ...
2
votes
0answers
227 views

Visual SLAM for wheeled robot

I would appreciate your help for choosing the appropriate real-time SLAM algorithm. I am interested in having autonomous robot, thus a SLAM component is needed for autonomous navigation. The ...
3
votes
4answers
2k views

Public dataset for monocular visual odometry

I am planning to develop a monocular visual odometry system. Is there any indoor dataset available to the public, along with the ground truth, on which I can test my approach? Note: I am already ...
2
votes
1answer
80 views

Joint angle correction using LM

I have a camera mounted on a rotational joint. I need to calibrate the extrinsics of this camera. I can fix the camera at an estimated angle (facing the ceiling). Then I want to get the real angle. ...
1
vote
2answers
518 views

Differential GPS or Simple GPS for Robot navigation and odometry?

I am building a rover which can navigate autonomously. I do not want to use wheel encoders for generating robot odometry since it causes drifts due to slippage etc. I want to use GPS for generating ...
2
votes
2answers
263 views

Odometry motion model for Kalman filter, but is the error zero mean?

I was planning on using the odometry model in the prediction stage of an Extended Kalman Filter. State transition equations: $$ f(X_t,a_t) = \begin{bmatrix} x_{t+1} = x_t + \frac{\delta s_r + \delta ...
5
votes
2answers
497 views

Need help regarding development of Extended Kalman Filter for sensor-data fusion of odometry and IMU data

I'm trying to develop an Extended Kalman Filter (EKF) for the positioning of a wheeled vehicle. I have a 'Baron' robot frame with 4 static wheels, all driven by a motor. On the 2 rear wheels I have an ...
0
votes
1answer
395 views

Need help regarding odometry using Encoder motor and raspberry pi

I am doing project on odometry using raspberry pi. I know that encoder motor will tell me how much distance my robot has covered, but I have no idea ho to implement completely. I just need guideline ...
1
vote
0answers
499 views

SLAM - odometry motion model

I am making a project with a 4 wheeled differential robot to make visual SLAM using a stereo rig. I have some encoders to measure de displacement and the steering angle of the robot and I want to use ...
2
votes
2answers
647 views

Mechanical odometer with digital output

I would like to mechanically measure the distance a kids electric ATV traveled. The ATV will not be used with kids but as a mobile robot instead. It has a common rear axle for both rear wheels which I ...
1
vote
1answer
37 views

Which geo-projection to use for odometry [closed]

I would like to make a little survey regarding the (geo)spatial projection that you use when elaborating your GPS and movement data for the spatial awareness of your robots. Moving all GPS ...