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Questions tagged [odometry]

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

19 questions with no upvoted or accepted answers
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0answers
132 views

On-board monocular odometry for quadcopter stabilization

Has anyone done this with EKF/PID on a small microcontroller? Or know of code snippets to help implementing this?
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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 ...
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153 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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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 ...
2
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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 ...
2
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0answers
567 views

Correcting GPS track with visual odometry (sensor fusion)

I am trying to build low cost and precise outdoor positioning. I explored NS-RAW with RTKLIB - this would be doable but probably will need either a base station to get the correction data for rover or ...
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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 ...
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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 ...
1
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1answer
507 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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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 ...
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27 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
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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 ...
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1answer
80 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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2answers
69 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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0answers
36 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 ...
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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 ...
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1answer
57 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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2answers
294 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 ...
0
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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 ...