Velocity Estimation via Wheel Circumference Identification

The article presents a velocity estimation algorithm through the wheel encoder-based odometry and circumference identification. motivation of paper is that proper model can improve motion in poor sensor performance cases. For example, when GNSS signals are unavailable, or vision-based methods incorrect due to insufficient number features, furthermore, IMU-based method fails lack frequent accelerations. In these situations, encoders be an appropriate choice for state estimation. However, this type suffers from parameter uncertainty. paper, identification proposed listens incoming measurements estimates circumferences recursively with nonlinear least squares method. experimental results demonstrate application identified parameters model, accurate obtained high frequency. Thus, presented driver assistant functions autonomous vehicles.