9 votes

How do monocular visual odometry algorithms work?

Monocular vision is a difficult and very interesting, particularly in its application to the general navigation problem. I will make an attempt at answering your questions, but if you find anything ...
JSycamore's user avatar
  • 926
7 votes

Odometry vs Dead-reckoning

Dead reckoning is determining pose (position and rotation) using speed estimates from sensors. For example, you know your initial position and use sensors such as encoder, accelerometers, gyros, etc......
Ralff's user avatar
  • 345
5 votes

How to align solidworks global origin with assembly origin while exporting in solidworks to urdf

I did a little step-by-step tutorial with images, but if my other answer regarding aligning frames didn't work well for you, or the definition of "Front Plane" or "Top Plane" is confusing in ...
Chuck's user avatar
  • 16k
4 votes

What's the difference between the term "pose estimation" and "visual odometry"?

It is also often the case that the author lacks knowledge, makes mistakes, or is adding unnecessary statements to their work. Just because it is published does not make it true. In this case though, ...
hauptmech's user avatar
  • 4,435
4 votes

What's the difference between the term "pose estimation" and "visual odometry"?

Pose estimation means determining position and orientation. Odometry is using a (any) sensor to determine how much distance has been traversed, so visual odometry is just clarification that the ...
Chuck's user avatar
  • 16k
4 votes
Accepted

Problem understanding a paper about visual odometry

So SVO works a bit differently then other VO systems as it uses dense image alignment. You need to understand this concept first before understanding SVO. Look up Lucas and Kanade image alignment. The ...
edwinem's user avatar
  • 1,861
3 votes

Wheel Odometry Covariance Matrix for Custom Robot

The covariance matrix of the control inputs is measured and known. That is, following the EKF equations on this page, the covariance of the control, $Q$ is (often) a diagonal matrix, where the ...
Josh Vander Hook's user avatar
3 votes

Need help regarding development of Extended Kalman Filter for sensor-data fusion of odometry and IMU data

Adding to the above, my favorite way to debug a misbehaving filter is to isolate each step. Make sure your prediction step works before correcting it. Your bot should drive straight right with 0,0,0 ...
Josh Vander Hook's user avatar
3 votes

Need help regarding odometry using Encoder motor and raspberry pi

You could maybe use Matlab to plot the position of your vehicle? This is how I'm trying to do that: I have a 'logging'-program running on the Raspberry Pi that counts each sampling time the pulses ...
Eva's user avatar
  • 155
3 votes

Multi-Rate Sensor Fusion using EKF

Part 1. Use one or the other. Often odometery is used instead of kinematics or dynamics for prediction, at least in my work. Part 2. This is handled by the construction of the measurement equation ...
Josh Vander Hook's user avatar
3 votes

Plotting location using wheel encoder data

A few things: I took a look at your data set. Did you make sure you used the time column correctly? The first entry is "1429481388546050050" without the decimal. To make it in seconds, it should be ...
kamek's user avatar
  • 1,000
3 votes

Public dataset for monocular visual odometry

http://vision.in.tum.de/data/datasets/rgbd-dataset This is a set of recordings for the Kinect and Asus Xtion pro, which are all indoors (in offices and a hangar). It comes with precise ground truth ...
FelEnd's user avatar
  • 176
3 votes

Public dataset for monocular visual odometry

This is another more recent one, based on the paper A Photometrically Calibrated Benchmark For Monocular Visual Odometry by Engel et al: http://vision.in.tum.de/data/datasets/mono-dataset This gives ...
Stephen Phillips's user avatar
3 votes

How to do odometry for 4 mecanum wheeled robot?

In order to transform encoder signals to robot motions a kinematic model of the robot is needed. In some cases this is very simple, just including the gear ratios and a heading angle (e.g. with ...
50k4's user avatar
  • 6,662
3 votes

[slam_toolbox]: Failed to compute odom pose

I can see the standard frame in slam_toolbox param file is base_footprint. See yaml-file. I can't see it in your tf.
Nobel's user avatar
  • 56
2 votes

What is inverse depth (in odometry) and why would I use it?

In addition to the reasons mentioned in other answers about the numerical conditioning of inverse depth, a major reason for this term to appear in specifically visual odometry literature is in the way ...
surtur's user avatar
  • 324
2 votes

Plotting location using wheel encoder data

Thanks for the update. Now it looks like $x_c$ and $y_c$ denote the origin/starting position, and $\theta$ is positive, measured CCW from the positive x-axis. Now I am even more concerned about the ...
Chuck's user avatar
  • 16k
2 votes

Mechanical odometer with digital output

The automotive industry frequently uses Hall effect sensors to measure shaft and gear rotation. The Hall effect has some beneficial properties: it operates over a wide range of temperatures, is more ...
SteveO's user avatar
  • 4,386
2 votes

Multi-Rate Sensor Fusion using EKF

I've performed 2D localization with just odometry and a gyroscope before, and to be honest, depending on (i) how good your encoders are; (ii) what type of environment you're in (is there a chance your ...
kamek's user avatar
  • 1,000
2 votes

Need help regarding development of Extended Kalman Filter for sensor-data fusion of odometry and IMU data

You should first validate your filter is working before second-guessing your modelling choices. But I agree both those filters look OK (although I did not double check all the maths) and both of your ...
Gouda's user avatar
  • 902
2 votes

Differential GPS or Simple GPS for Robot navigation and odometry?

Do not give up on encoders. They are a great complement to GPS. I don't know what precision you want to reach, or what terrain your robot will operate in, but wherever it will be, encoders will give ...
mactro's user avatar
  • 953
2 votes
Accepted

Wheel odometry simulation using ground truth

You can't just take the ground truth states and get wheel encoder positions, or vice-versa, because the robot is nonholonomic. Nonholonomic is a fancy word that means "path dependent," essentially, ...
Chuck's user avatar
  • 16k
2 votes

Encoder for odometry (Wheel vs motor)

Since it's the wheels which change the robot's pose in the environment, I'd suggest putting the encoders to the wheels. Especially if the motor and the wheel are only connected by a chain, introducing ...
Daniel Eberts's user avatar
2 votes
Accepted

Why the IMU measurements only accumulate drift in 4DOF

Correct, it's all about the gravity vector. I would argue that it is NOT necessarily possible to get the gravity vector out of the measurement, but that's because it's possible to put the IMU in a ...
Chuck's user avatar
  • 16k
2 votes

Full 3D Pose (Scale, Rotation and Translation) Estimation using Gyro and Acceleromter sensors fusion

The packages you've found don't estimate scale or 3d pose because that's not really feasible using just an imu. The only way to get 3d pose from an imu is to integrate acceleration (adjusting for ...
ryan0270's user avatar
  • 2,804
2 votes
Accepted

Markov Localization using control as an input

Multi-dimensional models In the 2D case, $x_t$ is a vector with two components (e.g. position in $x$, $y$), but why stop at 2D? Often, the state vector $x_t$ will have your position in two or three ...
combo's user avatar
  • 450
2 votes
Accepted

How to properly initialize every new pose in a Visual SLAM algorithm (namely DSO)?

DSO initializes the scene and camera poses with a specific scale factor such that the average inverse depth of the pointHessians is one. After the initialization the first two frameHessians are led ...
felipe7's user avatar
  • 36
2 votes

Lost on Graph slam's loop cloursure

The GraphSLAM algorithm from the paper you linked does not have a loop closure mechanism in the sense of a dedicated procedure for finding correspondences between landmarks observed at different nodes ...
al-dev's user avatar
  • 331
2 votes

How can I calculate odometry given two poses?

Those POSEs are not 3D vectors or a 3D coordinate point. As such you can't subtract. A pose is a state vector, and the last value is an angle. From this, how can you calculate odometry?
Bruno Pinto's user avatar
2 votes

Odometry using wheel encoder with no differential drive

So long you have a sensor to read the angle of the steering wheel, you can use the bicycle kinematic model to compute odometry for an Ackermann drive platform, e.g. a car: $$ \begin{align} \\ \dot{x}...
xperroni's user avatar
  • 1,353

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