To command a rover to go to a location of scientific interest on a remote planet, the rover must be capable of reliably tracking the target designated by the scientist from ten or more meters away. The rover must maintain lock on the target while traversing rough terrain and avoiding obstacles without the need for communication with Earth. Among the challenges of tracking targets from a rover a...

The related fields of mobile robotics and ground vehicle localization lack a linearized theory of odometry error propagation. By contrast, the equivalent Schuler dynamics which apply to inertial guidance have been known and exploited for decades. In this paper, the general solution of linearized propagation dynamics of both systematic and random errors for vehicle odometry is developed and vali...

We present a method for calculating odometry in three-dimensions for car-like ground vehicles with an Ackerman-like steering model. In our approach we use the information from a single camera to derive the odometry in the plane and fuse it with roll and pitch information derived from an on-board IMU to extend to three-dimensions, thus providing odometric altitude as well as traditional x and y ...

Abstract: Although odometry is nonlinear, it yields sufficiently to linearized analysis to produce a closed-form transition matrix and a symbolic general solution for both deterministic and stochastic error propagation. The implication is that vehicle odometry can be understood at a level of theoretical rigor that parallels the well-known Schuler oscillation of inertial navigation error propaga...

The improvement of odometry systems in collective robotics remains an important challenge for several applications. In this work, we propose a localisation strategy in which robots have no access to centralised information. Each robot has an estimate of its own location and an associated confidence level that decreases with distance travelled. Robots use estimates advertised by neighbouring rob...

Positioning of mobile robots basically calculated using odometry information. Odometry from the wheel’s encoder is mostly used for simple and inexpensive implementation for determining the relative localization of a mobile robot. This paper deals with the estimation of better relative localization of a two wheeled differential drive robot by means of odometry by considering the influence of par...

Up to recently autonomous mobile robots were mostly designed to run within an indoor, yet partly structured and flat, environment. In rough terrain many problems arise and position tracking becomes more difficult. The robot has to deal with wheel slippage and large orientation changes. In this paper we will first present the recent developments on the off-road rover Shrimp. Then a new method, c...

Visual odometry is an important sensor modality for robot control and navigation in environments when no external reference system, e.g. GPS, is available. Especially micro aerial vehicles operating in cluttered indoor environments need pose updates at high rates for position control. At the same time they are only capable to carry sensors and processors with limited weight and power consumptio...

It is well understood that in ADAS applications, a good estimate of the pose vehicle required. This paper proposes metaphorically named 2.5D odometry, whereby planar odometry derived from yaw rate sensor and four wheel speed sensors augmented by linear model suspension. While core already literature, this fitting quadratic to incoming signals, enabling interpolation, extrapolation, finer integr...