How to proceed with a IMU based odometry ?

asked 2017-11-14 06:17:02 -0500

updated 2017-11-14 06:17:48 -0500

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 ?

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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 ).

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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.

Gary Servin gravatar imageGary Servin ( 2017-11-14 09:33:07 -0500 )edit

One option would be to run some kind on visual odometry like viso2

Gary Servin gravatar imageGary Servin ( 2017-11-14 09:34:43 -0500 )edit

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 .

chris_sunny gravatar imagechris_sunny ( 2017-11-14 22:43:48 -0500 )edit

I also want to get odometry (pose and twist) using imu (mpu 6050)? Were you able to do this?

sajal gravatar imagesajal ( 2019-06-08 07:25:06 -0500 )edit