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Questions tagged [odometry]

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

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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?
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 The built-in gyroscopes are by now really outdated; the main problem is that the ...
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 ...
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 "...
8
votes
3answers
2k views

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. ...
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-...
6
votes
3answers
969 views

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 ...
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 ...
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 ...
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 ...
5
votes
1answer
1k views

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, ...
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....
4
votes
3answers
1k views

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 ...
4
votes
1answer
198 views

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 ...
4
votes
2answers
714 views

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, \...
4
votes
1answer
831 views

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 ...
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 ...
3
votes
2answers
504 views

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 ...
3
votes
3answers
1k views

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 ...
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 ...
3
votes
1answer
421 views

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 ...
3
votes
1answer
3k views

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 ...
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 ...
3
votes
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?
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 ...
2
votes
1answer
5k views

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 ...
2
votes
1answer
808 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. ...
2
votes
2answers
186 views

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 ...
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 ...
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 ...
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 ...
2
votes
1answer
845 views

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: ...
2
votes
2answers
946 views

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 ...
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. ...
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 ...
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, ...
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 ...
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 ...
2
votes
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 ...
2
votes
2answers
155 views

Passive ego-motion estimation vs active

I am doing research of ego-motion estimation and positioning in 6DoF space. And I found that apparently all systems are based on active RGB-D sensors, like Kinect. I understand, that such sensors ...
1
vote
1answer
2k views

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 ...
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/...
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): ...
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 ...
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 ...
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 ...
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 ...
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 ...
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 ...
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 ...