Re: [Playerstage-users] Odometry model

[gbiggs <gb...@ki...>]

The odometry model comes from data the robot, not from commands you
provide. You need to use the odometry information provided by position2d
or position3d data messages, and suitable equations calculating the
position of the robot based on that data, to maintain a prior position
estimate and perform the prediction step of the EKF.

Geoff

Aslund wrote:
> Hey everyone
> 
> I am working on a project regarding robot localization and right now I
> am trying to model the Extended Kalman filter that is required for the
> project. I am stucked between two models to create the prior position
> estimate: velocity and odometry model. I tend to lean against the
> odometry model. 
> I have looked into the Player C++ header file and I can see that the
> velocity model is available with "void SetSpeed(double aXSpeed, double
> aYawSpeed)", but is it possible for Player to make a prior position
> estimate based on the odometry model?