Process

Odometry

You might say: dead reckoning

Odometry estimates incremental motion by accumulating wheel, image, inertial, or scan-matching measurements.

What it does

Provides smooth, high-rate motion between absolute fixes.

Ask

How quickly does each odometry source drift on this floor, scene, or route?

What to look for

1. Wheel, image, inertial or scan-matching measurements
2. Incremental path between absolute fixes
3. Drift along a floor, scene or route

Parts

• Drift: Drift is accumulated trajectory error from integrating imperfect incremental motion.

Catalogue: Odometry

• Wheel: Integrates encoder increments with the wheel geometry; slip and calibration error create drift.
• Visual: Tracks image motion or features across frames to estimate camera motion.
• Visual-inertial: Combines camera motion with inertial measurements so each sensor constrains the other's weaknesses.
• Lidar: Registers consecutive lidar scans to estimate their relative transform.

Connections

• Made from: Encoder
• Made from: IMU

Sources

1. Timothy D. Barfoot, State Estimation for Robotics, Chs. 3 and 6Measurements of this type can arise from a lower-level dead-reckoning method such as wheel odometry, visual odometry, or inertial sensing.
2. Point Cloud Library, The PCL Registration API, Registration APIThe last step is to actually compute the transformation.

Use it on your project

teardown-apply: hold "Odometry" (odometry) from the teardown at https://teardownatlas.com/robotics/ against my project

Paste it into a coding agent that has the teardown skills.

An AI agent wrote this map with the teardown skill. It can contain errors: check the sources before you rely on a part. About and legal