two odometry sources: which frame is child?

asked 2020-01-22 03:15:01 -0600

june2473 gravatar image

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. t265_odom_frame - frame of t265 camera odometry

Also I have t265_pose_frame which is under t265_odom_frame.

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 -> ...


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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.

gvdhoorn gravatar image gvdhoorn  ( 2020-01-22 04:23:01 -0600 )edit

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

june2473 gravatar image june2473  ( 2020-01-23 02:49:46 -0600 )edit

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

gvdhoorn gravatar image gvdhoorn  ( 2020-01-23 04:08:00 -0600 )edit