#Odometry

Dead Reckoning Primer — Integrating Wheels, IMU, and GNSS to Track a Robot's Motion

Dead reckoning is the foundational technique of updating a robot's pose and position by integrating wheel rotation, IMU readings, and velocity sensors. This article covers differential-drive kinematics, accumulating error, EKF-based correction, and implementations in indoor transport robots and autonomous driving, with equations and diagrams.