Sensor Data Correction for Improved Self-Positioning Accuracy

Abstract

One of the key elements of mini 4WD AI is localization. When implementing localization based on onboard sensor, the accuracy of the information obtained from the sensors determines the accuracy of the localization. The values obtained from the sensors may not necessarily indicate the grand truth, so correction is necessary. In this paper, I specifically demonstrate the method for correcting the odometer, which depends on the rotation speed of the tires.