Integration of pose information from external sources into SLAM

Software
1

Hello,

I am mounting the ZED2 on top of a mobile robot and would like to include the wheel encoder and IMU information of the robot in the sensor fusion for the ZED’s SLAM. Is there a way to do that?

Thank you in advance

2

Hi @sobmoyen
Welcome to the StereoLabs community.

The ZED SDK does not provide functions to perform what you are asking for.
What you can do is take the output of the positional tracking module and fuse it with other sources of odometry in a Kalman Filter.

This approach is normally used in the ROS and ROS 2 robotics frameworks.

Steve Macenski, CEO of the Open Navigation company, published a tutorial in the documentation of the Nav2 framework that explains in detail how to perform this type of task:
https://navigation.ros.org/tutorials/docs/integrating_vio.html