Comparisson between generalized geometric triangulation and odometry

Enrique Mar-Castro; Luis Mario  Aparicio-Lastiri; Omar Vicente  Pérez-Arista; Rafael Stanley Núñez-Cruz; Elba Dolores Antonio-Yañez

doi:10.29057/icbi.v12iEspecial2.12240

Enrique Mar-Castro Universidad Politécnica de Tulancingo https://orcid.org/0009-0002-3661-2941
Luis Mario Aparicio-Lastiri Universidad Politécnica de Tulancingo https://orcid.org/0009-0004-7938-6950
Omar Vicente Pérez-Arista Universidad Politécnica de Tulancingo https://orcid.org/0000-0003-4984-0468
Rafael Stanley Núñez-Cruz Universidad Politécnica de Tulancingo https://orcid.org/0000-0003-4539-6232
Elba Dolores Antonio-Yañez Universidad Politécnica de Tulancingo https://orcid.org/0000-0002-4379-5582

DOI: https://doi.org/10.29057/icbi.v12iEspecial2.12240

Keywords: Pose, robot diferencial, odometría, triangulación geométrica generalizada, ArUco

Abstract

The localization in mobile robotics is essential for carrying out autonomous tasks. For this reason, different algorithms have been developed to estimate the robot's pose, either relatively or absolutely. One of the best known is Wheel-based Odometry, which is easy to implement but the error tends to increase with respect to time producing an unreliable estimation. In contrast, absolute localization algorithms such as Generalized Geometric Triangulation (GGT) offer higher accuracy, although their implementation may require more advanced measurement systems, and pose estimation can be slow. This work compares these two algorithms and shows what happens with the pose estimation when used for period of time. The presented results were obtained in a real testing area equipped with a Turtlebot3 model burger robot.

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