Computer Mouse-Based Odometry and Heading for Indoor Navigation

C. Lomanno, K.A. Fisher

Abstract:	Recent literature has demonstrated numerous ways to assist in precision navigation without GPS, from using signals of opportunity to vision-aided approaches. An emerging concern is the ability to navigate and map unexplored, underground tunnels. Due to the difficult environment, an all-sensor solution must be sought. In this paper, the feasibility of using two laser mice for odometry and heading estimation over relatively long path lengths is explored. Precise odometry is useful to constrain position error growths when using MEMS-based IMUs. Typical robotic systems use axle rotation measurements to convert axle rotations into distance traveled. The main short-coming of this approach, especially for skid-steering platforms or muddy/slippery terrain, is that axle rotations do not necessarily contribute to forward movement. Previous to this research, optical mice have been used for odometry under limited conditions. This research builds upon those efforts by considering significantly longer path lengths as well as attitude estimation. In particular, this paper presents demonstrates optical mouse odometry and heading over a path length of over 135 meters. Mouse-based solutions are compared to those from axle rotation measurements and truth data. The laser mouse-based odometry is shown to be slightly better than the axle rotation-based odometry.
Published in:	Proceedings of the 23rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2010) September 21 - 24, 2010 Oregon Convention Center, Portland, Oregon Portland, OR
Pages:	2262 - 2270
Cite this article:	Lomanno, C., Fisher, K.A., "Computer Mouse-Based Odometry and Heading for Indoor Navigation," Proceedings of the 23rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2010), Portland, OR, September 2010, pp. 2262-2270.
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