Questions tagged [odometry]

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

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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 The built-in gyroscopes are by now really outdated; the main problem is that the ...
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 ...
17
votes
3answers
4k views

What are good methods for tuning the process noise on Kalman filters?

Most often tuning the Kalman filter noise matrices is done by trial and error or domain knowledge. Are there more principled ways for tuning all the Kalman filter parameters?
3
votes
1answer
391 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
323 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 ...
3
votes
1answer
895 views

Tf frame origin is offset from the actual base_link

I have built my differential drive mobile robot in solidworks and converted that to URDF file using soliworks2urdf converter. I successfully launched and robot and simulated with tele-operation node. ...
0
votes
2answers
668 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 ...