Tightly-Coupled LiDAR-IMU-Wheel Odometry with Online Calibration of a Kinematic Model for Skid-Steering Robots.
Taku OkawaraKenji KoideShuji OishiMasashi YokozukaAtsuhiko BannoKentaro UnoKazuya YoshidaPublished in: CoRR (2024)
Keyphrases
- tightly coupled
- kinematic model
- motion control
- fine grained
- inertial sensors
- general purpose
- loosely coupled
- wheeled mobile robots
- mobile robot
- camera calibration
- robotic systems
- real time
- inertial measurement unit
- reinforcement learning
- mechanical systems
- autonomous robots
- control system
- high resolution
- robot control
- position and orientation
- humanoid robot
- multi robot
- point cloud