A Proposal for Odometry of a Greenhouse Robot

Paper

• A Proposal for Odometry of a Greenhouse Robot.pdf

Algorithm used

• Visual Odometry - ORB SLAM2
• EKF - Robot_localization
• Methods of fusing sensors - Proposed algorithm, VO, VIO

Each algorithms was verified in the following scenarios

• Scenario 1 - On Pipe
• Scenario 2 - On Headland
• Sceanrio 3 - Entire enviornment (Validation)

Config

4 different config.yaml files for robot_localization package

rosmsg_to_tum

Save various ros message into TUM.txt files

sensor_filter_node

Proposed algorithm used in the research.

Results