# Ground vehicle odometry using a non-intrusive inertial speed sensor

arXiv: https://arxiv.org/abs/1809.06472 · HTML: https://mlsanity.com/paper/1809.06472/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 17 Sep 2018.

## Built on by (most cited first, 2 of 2)

- [A 2.5D Vehicle Odometry Estimation for Vision Applications](https://mlsanity.com/paper/2105.02679/) (2021)
- [2.5D Vehicle Odometry Estimation](https://mlsanity.com/paper/2111.08398/) (2021)

## Abstract (arXiv)

This paper describes the design and development of a non-intrusive inertial speed sensor that can be reliably used to replace a conventional optical or hall effect-based speedometer on any kind of ground vehicle. The design allows for simple assembly-disassembly from tyre rims. The sensor design and data flow are explained. Algorithms and filters for pre-processing and processing the data are detailed. Comparison with a real optical encoder proves the accuracy of the proposed sensor. Finally, it is shown that factor graph-based localization is possible with the developed sensor.