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Odometry using IMU

asked 2020-08-07 06:07:49 -0500

electrophod gravatar image

Are there any algorithms for obtaining odometry using only an IMU module (MPU9250) without any vision related component? If yes are there any ROS wrappers/packages for those libraries or algorithms? TIA

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answered 2020-08-07 13:54:14 -0500

Probably some out there, but its going to be very error prone. A 9-DOF IMU only has an accelerometer to compute translational changes from. If you've taken any type of sensor lab in the past, you'll know double integrating acceleration is noisy business, especially with a low-cost consumer grade IMU like that.

You could feed in your IMU to robot_localization which should produce odometry based on the inputs. I'd highly recommend installing some encoders _at minimum_ if not something else like a camera or lidar to compute some other corrections for the accelerometer.

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Asked: 2020-08-07 06:07:49 -0500

Seen: 64 times

Last updated: Aug 07 '20