I wasn't able to find the original Odometry.pdf anywhere in my source code repository (ack!). I did find
this page which seems pretty close to what I remember reading. I haven't looked at the code in a couple of years, so I may be way off. (c:
I
did find a couple of updated versions of the CalculateOdometry.vi in my repository. I assume I fixed something, but who knows what. I have attached them in hopes that they may be of help.
I don't have LabVIEW installed at the moment so I have no idea what I'm posting here. It might be a good idea to shield your eyes when opening these...
Best of luck!
-Brian