16 votes
Accepted

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

Features like the sun and clouds and other things that are very far off would have a distance estimate of inf. This can cause a lot of problems. To get around it, the inverse of the distance is ...
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  • 1,825
16 votes
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Odometry vs Dead-reckoning

Deduced reckoning is figuring out where you are after starting from a known position, by using your speed, direction and time. (It's effectively integration of velocity, if you want the calculus/...
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11 votes

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

The inverse depth parameterisation represents a landmark's distance, d, from the camera exactly as it says, as proportional to 1/d within the estimation algorithm. The rational behind the approach is ...
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8 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 ...
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7 votes

Odometry vs Dead-reckoning

Dead-reckoning systems are based on estimating position relative to sensors. These sensors can be accelerometers, gyroscopes, whell encoders, infrared sensors, cameras etc. which have to placed on ...
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  • 1,104
6 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......
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  • 325
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 ...
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4 votes

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

Davison's paper introducing the method is easy enough to understand: Inverse Depth Parametrization for Monocular SLAM by Javier Civera, Andrew J. Davison, and J. M. Martınez Montiel DOI: 10.1109/TRO....
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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, ...
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  • 4,225
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 ...
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  • 950
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 ...
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3 votes

Simple Sensor Fusion for pose estimation

So you have acceleration readings from your IMU (linear and angular), and you get velocity readings (linear only) from wheel encoders. Get velocity from linear and angular accelerations with $$ v = ...
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3 votes
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Tf frame origin is offset from the actual base_link

It looks like most of your parts have no rotation, but some of them do, so I'm going to guess that you didn't mate your assembly to the origin planes in Solidworks. First, on your base plate, open ...
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3 votes
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How to perform odometry on an arduino for a differential wheeled robot?

I would add a few lines after you check that theta is between +/- 2pi: ...
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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 ...
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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 ...
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3 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 ...
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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 ...
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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 ...
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3 votes
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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 ...
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2 votes
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Public dataset for monocular visual odometry

I found a monocular dataset captured from a Micro Aerial Vehicle (MAV), and it has been been made available here: http://projects.asl.ethz.ch/sfly/org/doku.php?id=mav%20datasets In case the url stops ...
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2 votes

Accurate Wheeled Robot Odometry

First, you can try adding encoders - you don't need to buy anything to do this. Only remember to perform UMBmark procedure first. It will allow you to get much more reliable odometry from encoders ...
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2 votes
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Structuring EKF to estimate pose and velocity with odometry inputs

Great question! Your intuition is correct. I would do this: Put the state $x$, and expected velocities at the current time $t$, $v $ as the vector to estimate. Use estimated velocities to predict ...
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2 votes

How to combine odometry information with time-shifted information from IMU?

You're robot must be moving pretty fast for this delay to cause problems. Use a circular buffer to store the odometry readings, so you'll have a record of the last 100ms of odometry readings. Use ...
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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 ...
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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 ...
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2 votes
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Kalman filter Issue - GPS Odometry Fusion

In regards to your question about differential drive, it sounds as though your robot is using the kinematic model to estimate the position, but this is being done "internally" (i.e., in the embedded ...
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  • 950
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 ...
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  • 4,326
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 ...
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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 ...
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