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
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2answers
7k 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 The built-in gyroscopes are by now really outdated; the main problem is that the ...
14
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4answers
8k 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 ...
9
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4answers
11k 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 "...
9
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. ...
9
votes
1answer
239 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-...
7
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3answers
987 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 ...
6
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2answers
601 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 ...
6
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2answers
4k 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
6k 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
1answer
2k 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, ...
5
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1answer
892 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 ...
4
votes
6answers
6k 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
2k 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
206 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
146 views

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 ...
4
votes
2answers
785 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
2answers
109 views

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 ...
4
votes
1answer
1k 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
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
548 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
365 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
1k 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. ...
3
votes
1answer
472 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
2answers
200 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 ...
3
votes
1answer
496 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
2answers
316 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 ...
3
votes
1answer
1k 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: ...
3
votes
1answer
83 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. ...
3
votes
0answers
138 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
1answer
3k 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 ...
2
votes
2answers
741 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
63 views

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 ...
2
votes
2answers
92 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
103 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 ...
2
votes
1answer
234 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
2answers
967 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
0answers
50 views

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, ẋ, ẏ, ẍ, ÿ } To estimate the 2 dimensional ...
2
votes
0answers
95 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
2answers
329 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 ...
2
votes
0answers
69 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
243 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
586 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
164 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
40 views

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 ...
1
vote
1answer
45 views

Odometry using wheel encoder with no differential drive

I am currently looking for a way to do odometry using wheel encoders, for a car that has no differential drive. The two rear wheel would rotate at the exact same speed. I have been looking everywhere ...
1
vote
1answer
334 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/...