Fast and easy systematic and stochastic odometry calibration

@article{Kelly2004FastAE,
  title={Fast and easy systematic and stochastic odometry calibration},
  author={Alonzo James Kelly},
  journal={2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)},
  year={2004},
  volume={4},
  pages={3188-3194 vol.4}
}
A method of odometry calibration is proposed and validated which is designed to be as convenient as possible. Convenience is enhanced by reducing both the amount of software to be written and the amount of measurements to be made to a minimum. The path dependent nature of odometry can be exploited to reduce the amount of ground truth information to as little as a single known point. Existing odometry and covariance estimation functions themselves would be used to extract first order parameter… CONTINUE READING
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