The RomiPi project currently uses Aruco Tags for localization! While highly accurate, there are several limitations: cameras and vision are expensive, and visual obstructions limit use of cameras for certain carrying tasks. This pose will document various technologies and products in:
- Accuracy
- Measurement Basis
- Relevant limitations for the RomiPi mobile robot platform
The release of Bluetooth 5.1’s support for angle of arrival will likely blow this space wide open. I plan to update this as more details arrive.
| Technology | Products | Basis | Accuracy | Description |
| IMU | Adafruit, Bosch | Relative movement | Fast updates, drifts over time | |
| Optical Flow | PixArt | Visual movement | 1 cm | only X,Y. Issues with lighting, surface, distance to surface. |
| Bluetooth RSSI | Estimote, iBeacon, | Trilateration | 10-100 cm | Poor accuracy |
| Bluetooth Angle | Texas Instruments | Triangulation | 1 deg | Not released yet, requires multi-antenna sensor |
| UWB | Decawave | Trilateration | 10 cm | Accuracy limited for Formations, better than BT RSSI though. |
Relevant ROS Packages/Stacks
Intertial Measurement Unit (IMU)
IMU Readings
- Survey of IMU Sensor Fusion Solutions: this wiki is full of good information
- Notes on Accuracy of IMUs
IMU Products
Optical Flow Products
UWB Products