Does pose estimation corrects the accumalated odometry errors?

asked 2018-10-26 00:04:47 -0600

malgudi gravatar image

What is meant by pose estimation and how it is related to odometry or odometry error in case. Thank you.

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A pose estimation sensor may provide information about the absolute or relative position and orientation of a robot. These sensors include gyroscopes, magnetometers, accelerometers, satellite navigation systems, which are often packaged together as a single hardware device with an internal state est

chrissunny94 gravatar image chrissunny94  ( 2018-10-26 00:07:47 -0600 )edit

Hi thanks for your reply. Could you look at this question? is it happening due to pose estimation error or odometry error and how to confirm it? https://answers.ros.org/question/3063...

malgudi gravatar image malgudi  ( 2018-10-26 00:24:51 -0600 )edit

What robot are you using ?

chrissunny94 gravatar image chrissunny94  ( 2018-10-26 00:29:14 -0600 )edit
1

Try using robot_localization along with IMU and Odometry coming from wheel encoders to get a better pose_estimate .

Feed the output of the robot_localization as the input topic for Gmapping/AMCL .

If you have a 360deg lidar , try using hector_slam , it outputs odometry .

chrissunny94 gravatar image chrissunny94  ( 2018-10-26 00:31:22 -0600 )edit

It's a two wheel differenital drive mobile robot, differential drive + wheels rotates from 0 to 180degree. It means, it can slide horizontally left and right side.

malgudi gravatar image malgudi  ( 2018-10-26 00:33:30 -0600 )edit
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