• Visual Odometry and Control for an Omnidirectional Mobile Robot with a Downward-Facing Camera 

      Killpack, Marc D.; Deyle, Travis; Anderson, Cressel D.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-10)
      An omnidirectional Mecanum base allows for more flexible mobile manipulation. However, slipping of the Mecanum wheels results in poor dead-reckoning estimates from wheel encoders, limiting the accuracy and overall utility ...