Optical mouse for mecanum Odometry?

[AriMindell]

Originally Posted by Jared Russell

Due to noise you are virtually guaranteed not to have measured 4 velocities that exactly solve the equations. One common approach to deal with this is to use a least-squares solution, which would find 4 new velocities that are consistent and minimize the mean square "error" between what you measured and what your kinematic model says is possible. (A nice side effect is that you can measure this error - "residual" - and use it as a signal that you might be less certain about the vehicle's motion and could be colliding with something, etc.).

This is definitely an interesting approach. I will update this post once we do some more testing and decide which method we're going to use. Thanks!




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