Wheel odometry in global localization.

[ShinKengoAgbee]

Hello. Thank you for providing a great SDK.

I am currently testing localization for AMR using a global localization system, and I am considering introducing wheel odometry to make the system more robust.
I believe the ZED SDK doesn’t support wheel odometry input, so I think we need to fuse VIO and wheel odometry using another system. Is that understanding correct?
In that case, is it possible to edit the odometry output by the ZED SDK in an external system and then return the odometry to the global localization system?
Also, are there any plans for the ZED SDK to support wheel odometry in the future?
I’m not very good at English, so I apologize if any of my expressions are hard to understand.

[Myzhar]

Hi @ShinKengoAgbee
Welcome to the Stereolabs Community.

@ShinKengoAgbee

I am considering introducing wheel odometry to make the system more robust

Please note that wheel odometry will introduce a high level of uncertainty because of the intrinsic high covariance of this source, caused by friction and slippery conditions.

@ShinKengoAgbee

I believe the ZED SDK doesn’t support wheel odometry input, so I think we need to fuse VIO and wheel odometry using another system. Is that understanding correct?

Yes, this is correct.

@ShinKengoAgbee

In that case, is it possible to edit the odometry output by the ZED SDK in an external system and then return the odometry to the global localization system?

I recommend you consider using the robot localization package.

@ShinKengoAgbee

Also, are there any plans for the ZED SDK to support wheel odometry in the future?

We plan to introduce odometry source fusion in future versions of the SDK.