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botlowhao / vwio_eskf

ESKF Algorithm for Muti-Sensor Fusion(Wheel Odometry, IMU, Visual Odometry)
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About how to fuse wheel odometry #1

Open XuShengpan opened 1 month ago

XuShengpan commented 1 month ago

Thanks for your sharing ! I want to ask why do you fuse wheel odometry by position rather than by linear velocity and angular velocity ？Should these be better observation for eskf ？

botlowhao commented 1 month ago

Hello, thanks for your question. I am currently unable to determine which odometer in my code you are referring to regarding data fusion issues. The odometers that have data fusion capabilities include wheel inertial odometry (WIO) and wheel visual odometry (WVO). I boldly guess you are describing the issue with the WIO odometer. The fusion method of WIO odometry mainly utilizes the linear velocity from wheel odometry and the angular velocity from IMU for position and attitude calculation, which mainly utilizes the advantages of both in translational and rotational motion for data fusion.You can take a look at the following picture for detailed information. image