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GitHub3y
nkuwangfeng/encoder_imu_ekf_ros: ROS package to fuse together IMU and wheel encoders in an EKF. Implemented in both C++ and Python. C++ version runs in real time. - GitHub
So if your IMU isn't as good as an XSens grade IMU, I don't think this package will work for you. Instructions: clone package into catkin_ws/src; catkin_make; roslaunch encoder_imu_ekf_ros ...
IEEE3y
GR-Fusion: Multi-sensor Fusion SLAM for Ground Robots with High Robustness and Low Drift | IEEE Conference Publication | IEEE Xplore
Abstract: This paper presents a tightly coupled pipeline, which efficiently fuses measurements of LiDAR, camera, IMU, encoder, and GNSS to estimate the robot state and build a map even in challenging ...
GitHub5y
Imu and Encoder fusion question · Issue #179 · locusrobotics/fuse - GitHub
I have created a static publisher frame called "world" to transform all the sensor measurements (IMU and encoder) into the world frame before fusing. Please see the attached frames.pdf. I get the ...
IEEE1mon
Graph-Optimized Encoder–IMU Fusion for Robust Pipeline Robot Localization in Confined Spaces - IEEE Xplore
The proposed architecture adopts a dual-component design: 1) a front-end module that integrates data from the wheel encoder and IMU to estimate the robot pose, leveraging an error-state Kalman filter ...