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odometry
Odometry is the use of data from motion sensors to estimate change in position over time. Odometry is used by some robots, whether they be legged or wheeled, to estimate (not determine) their position relative to a starting location. This method is sensitive to errors due to the integration of velocity measurements over time to give position estimates. Rapid and accurate data collection, equipment calibration, and processing are required in most cases for odometry to be used effectively.
The word ''odometry'' is composed from the Greek words ''odos'' (meaning "route") and ''metron'' (meaning "measure").
Compare to Dead reckoning.
==Simple Example==
Suppose a robot has rotary encoders on its wheels or on its legged joints. It drives forward for some time and then would like to know how far it has traveled. It can measure how far the wheels have rotated, and if it knows the circumference of its wheels, compute the distance.
抄文引用元・出典: フリー百科事典『 ウィキペディア（Wikipedia）』
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