Observability Analysis and Online Calibration of Visual-Inertial-Wheel Odometry for 4WIS4WID Mobile Robots
This work develops a visual-inertial-wheel odometry framework with online calibration for four-wheel independently steered and driven robots. By deriving a 2D odometry model from driving velocities and steering angles, the authors show that incorporating lateral no-slip constraints restores the detectability of steering offsets previously lost in drive-only models. This system successfully estimates kinematic parameters during operation.