VO to correct wheel odometry

asked 2019-08-18 04:39:16 -0500

EdwardNur gravatar image

I have a wheel odometry that slips sometimes and therefore I have included the visual odometry (ORB SLAM to be more precise). How can I make the visual odometry to correct the pose of my wheel odometry? I have tried to include the visual odometry in my robot_localization package but the two transforms (map to odom which is a VO and odom to base which is a wheel odometry) conflict with each other.

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