odometry correction

asked 2019-01-19 23:59:07 -0500

AutoCar gravatar image

I have a robot car which publishes odom. I implemented a particle filter using land marker to localize itself. When I ran the robot, I found the odom is not accurate at all. As show in the picture below. The green path is the odom, the red path is the robot location found by particle filter.

The problem for me is that the land marker is not always available. Sometimes, I have to depend on odom to localize the robot. When I look the two curves below, I am thinking if I can "calibrate" the odom. Meaning found the transformation from the green curve to the red curve. If I can find it, then at any moment, I can apply the transformation to the odom and get a new more accurate transformation.

I am wondering if there is any study already exists for this...

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ANyone knows?

AutoCar gravatar imageAutoCar ( 2019-01-21 14:02:16 -0500 )edit