Does pose estimation corrects the accumalated odometry errors?

asked 2018-10-26 00:04:47 -0600

malgudi gravatar image

What is meant by pose estimation and how it is related to odometry or odometry error in case. Thank you.

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A pose estimation sensor may provide information about the absolute or relative position and orientation of a robot. These sensors include gyroscopes, magnetometers, accelerometers, satellite navigation systems, which are often packaged together as a single hardware device with an internal state est

chrissunny94 gravatar imagechrissunny94 ( 2018-10-26 00:07:47 -0600 )edit

Hi thanks for your reply. Could you look at this question? is it happening due to pose estimation error or odometry error and how to confirm it?

malgudi gravatar imagemalgudi ( 2018-10-26 00:24:51 -0600 )edit

What robot are you using ?

chrissunny94 gravatar imagechrissunny94 ( 2018-10-26 00:29:14 -0600 )edit

Try using robot_localization along with IMU and Odometry coming from wheel encoders to get a better pose_estimate .

Feed the output of the robot_localization as the input topic for Gmapping/AMCL .

If you have a 360deg lidar , try using hector_slam , it outputs odometry .

chrissunny94 gravatar imagechrissunny94 ( 2018-10-26 00:31:22 -0600 )edit

It's a two wheel differenital drive mobile robot, differential drive + wheels rotates from 0 to 180degree. It means, it can slide horizontally left and right side.

malgudi gravatar imagemalgudi ( 2018-10-26 00:33:30 -0600 )edit