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two odometry sources: which frame is child?

I have two odometry inputs: from wheels and from visual odometry camera (Intel Realsense t265).

Visual odometry camera t265 uses wheel odometry as input, so I only need t265 odometry for slam.

I have two odometry frames:

  1. odom - frame of wheel odometry
  2. t265odomframe - frame of t265 camera odometry

Also I have t265poseframe which is under t265odomframe.

The problem is that I dont know where to place these odometry frames.

Maybe like this:

map -> t265_odom_frame -> odom -> t265_pose_frame -> base_footprint -> ...

?

Asked by june2473 on 2020-01-22 04:15:01 UTC

Comments

I would say neither is child nor parent. With multiple sources of odometry, it's customary to fuse them into a single estimate using packages like robot_localization or others.

Asked by gvdhoorn on 2020-01-22 05:23:01 UTC

but it's already fused, t265 odometry uses wheel odometry as input. You mean I should remove wheel odom frame?

Asked by june2473 on 2020-01-23 03:49:46 UTC

If it's already fused then you could indeed consider ignoring the wheel odometry.

Asked by gvdhoorn on 2020-01-23 05:08:00 UTC

Answers