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 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 The built-in gyroscopes are by now really outdated; the main problem is that the ...
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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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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?
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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 "...
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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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How can I improve the map in my Mobile Autonomous Robot using KINECT
A little background of my aim
I am in the process of building a mobile autonomous robot which must navigate around an unknown area, must avoid obstacles and receive speech input to do various tasks. ...
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Visual Odometry options? [closed]
What are the pros/cons of the different visual odometry options?
Stereo Camera
Optical Flow
SLAM
other?
Criteria:
how well it performs vs other odometry options/sensors (lidar, radar)
sensor ...
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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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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 ...
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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 ...
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Simple Sensor Fusion for pose estimation
I am currently working on a balancing robot project, which features fairly low-cost sensors such as an 9-Dof IMU with the measurement states
$\textbf{x}_\text{IMU} = \left[a_x, a_y, a_z, g_x, g_y, ...
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Kalman filter Issue - GPS Odometry Fusion
I am working on estimating a robots pose using Odometry and GPS.
My first problem is that all kinematic model i have seen for a differential drive robot proposes using the displacement of the left ...
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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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Plotting location using wheel encoder data
Context: I am working with the SFU Mountain Dataset [http://autonomylab.org/sfu-mountain-dataset/]
The UGV image - via the SFU Mountain Dataset website:
I have used the following state update ...
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Local Localisation with particle filter
I am doing Local Localisation with sonar, particle filter (i.e all particles are initially with robot pose).
I have grip map of environment. When I execute algorithm in environment (where doors are ...
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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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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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Structuring EKF to estimate pose and velocity with odometry inputs
I have a differential drive robot for which I'm building an EKF localization system. I would like to be able to estimate the state of the robot $\left[ x, y, \theta, v, \omega \right]$ where $x, y, \...
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Calculate covariance matrix from x,y,z data
In ROS I've recorded a bag file from a custom robot (in real world) that does not provide covariance matrix and I want to use /odom to feed an EKF, but covariance ...
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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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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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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 ...
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How to align solidworks global origin with assembly origin while exporting in solidworks to urdf
I have created a robot model in solidworks and exported in solidworks to urdf plug-in. When exporting the co-ordinates of the model is misaligned which is causing problem while using in ROS.
As you ...
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Multi-Rate Sensor Fusion using EKF
Context: I have an IMU(a/g/m) + Wheel Odometry measurement data that I'm trying to fuse in order to localize a 2D (ackermann drive) robot.
The state vector ...
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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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How to perform odometry on an arduino for a differential wheeled robot?
I am using a differential wheel robot for my project. I need to know the current coordinates of the robot with respect to it's initial position taken as the origin. I m doing the computation on an ...
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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. ...
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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 ...
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Accurate Wheeled Robot Odometry
I'm looking for a "good" algorithm/model for wheeled odometry estimation. We have encoders on the two back wheels of the tricycle robot, and IMU on the controller board. Currently we use MEMS gyro for ...
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How to perform this reference system transformation?
I have two quaternions that indicate the initial orientation of a four wheel robot, each one in relative to one reference systems.
The robot's orientation given by a quaternion q is not the same in ...
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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 ...
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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 ...
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How to get the projection matrix from odometry/tf data?
I would like to compare my results of visual Odometry with the groundtruth provided by the KITTI dataset.
For each frame in the groundthruth, i have a projection matrix.
For example:
...
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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.
...
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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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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 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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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 ...
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How to reset odom positions of robots while setting initial positions of robots in gazebo simulation through launch file
I'm in the process of creating a coordination system for a multi robot system. For that i currently have created a ROS based simulation in gazebo using Rosbot2.0 (Robot physically available as well). ...
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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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Difference between odometry and localization wrt determining robot's pose?
AFAIK, localization is used to determine a robot's pose from a given a map and sensor data. I know of statistical localization approaches which use particle filters to determine a robot's location ...
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1
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Proper implementation of `pure_pursuit` for ground robots using waypoints
I am trying to understand and implement pure-pursuit waypoint following in 2D map. My questions are:
1. What exactly do I need to record in my waypoint.csv file?
To ...
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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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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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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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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 ...
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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 ...
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2 wheeled, 2 motor robot control
I decided to work on a 2 wheeled robot position mapping problem. For that I have 2 DC motors with encoders from pololu.
I have the following two questions:
Do I need to know the model of each motor ...
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Differentiating correspondences in ICP objective function?
The Iterative Closest Point (ICP) algorithm usually alternates between two steps:
Point correspondence finding
Nonlinear least squares optimization of ICP objective function given those ...
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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,
\dot{x},
\dot{y},
\ddot{x},
\ddot{y}
...
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