ToF-Wheel Odometry: Navigating Degeneration of Localization With Limited Sensing Capabilities
Wheel odometry provides an efficient motion prior for ground robots but is prone to transient violations such as wheel slip or terrain-induced tilt. In filtering-based odometry, these violations frequently trigger divergence when they coincide with constrained geometric observability (e.g., featureless corridors). We address this challenge by proposing ToF-Wheel Odometry (TWO), a tightly-coupled filtering framework that integrates wheel kinematics with geometric constraints from Time-of-Flight (ToF) cameras. The primary contribution of this work is a degeneracy-aware, directional covariance-shaping strategy that replaces heuristic online covariance tuning with geometry-conditioned inflati...
| Authors | Xu Yang, Wenhao Li, Zhengyu Wei et al. |
|---|---|
| Primary category | cs.RO |
| Published | 10 October 2026 |
| Last updated at source | 10 October 2026 |
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