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Observability Analysis and Online Calibration of Visual-Inertial-Wheel Odometry for 4WIS4WID Mobile Robots
In this paper, we present a visual-inertial-wheel odometry (VIWO) framework with online calibration for four-wheel independently steered and driven (4WIS4WID) mobile robots. We derive a 2D odometry model directly from the four driving velocities and steering angles, using both the longitudinal rolli
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