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How does gmapping uses odometry data (from the encoder + IMU)

asked 2013-07-11 20:44:13 -0500

Andrick gravatar image

Hi everyone, I'm currently working on a robotics project which uses gmapping. If I'm not wrong, the gmapping uses information from odometry and laser to obtain more accurate results. But how does the IMU and encoder data is used in this case? Any help is appreciated :)

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answered 2013-07-12 01:58:39 -0500

dornhege gravatar image

The IMU + encoder are usually fused into a combined improved odometry estimate (e.g. by the robot_pose_ekf node) that is in turn put into gmapping (instead of raw odometry).

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answered 2015-03-14 20:47:03 -0500

musiqsoulchild gravatar image

If you are using robot pose ekf, it fuses the imu and encoder data into odom. This is a combination of both the inputs. Gmapping uses that combined odom as an initial guess and then relies on scan registration.

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Asked: 2013-07-11 20:44:13 -0500

Seen: 1,048 times

Last updated: Mar 14 '15