Three main incorporations of physical robots are forecasted in our
lives: transport, assistance and factory robots. Design and requisites
of these different kinds are quite different, but one particularly is
attracting researchers’ efforts: navigation. While transport robotics is
located outdoors, the rest two are indoors. Outdoors machines can make
use of a GPS (among other instruments) to navigate, but indoor robotics
cannot and require extra aids to position and orientate. Among these,
visual odometry system is the most used one for wheeled robots.
However, visual odometry implies assuming navigation errors and knowing
the exact position of the robot turns to be a very hard task. There are
two kinds of errors:
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