How to proceed with a IMU based odometry ?
I have finished making a robot and its URDF model . The robot consists of 2x250 watt ebike motors , sabertooth motor controller , logitech USB webcam and a MPU6050 .
How do i proceed with a pure IMU based implementation for receiving the odometry feedback ?
I am reluctant to use wheel encoders because , its too difficult to add to the current design (attaching the encoder to the wheel or the motor ).
Asked by chris_sunny on 2017-11-14 07:17:02 UTC
Comments
You don't really have an easy way to get odometry directly from the IMU, since you will need to integrate the acceleration data from the x axis twice, which is not really recommended, you can do it, but it would be very unreliable and noisy.
Asked by Gary Servin on 2017-11-14 10:33:07 UTC
One option would be to run some kind on visual odometry like viso2
Asked by Gary Servin on 2017-11-14 10:34:43 UTC
A simple VO , will it run on a RPI3 ?
VO uses SIFT/SURF descriptors to update the pose/position of the robot .
My current robot uses a RPI3 , do you think i will be able to handle localization within say a room .
Asked by chris_sunny on 2017-11-14 23:43:48 UTC
I also want to get odometry (pose and twist) using imu (mpu 6050)? Were you able to do this?
Asked by sajal on 2019-06-08 07:25:06 UTC