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Mobile robots rely on odometry to navigate through areas where localizationfails. Visual odometry (VO) is a common solution for obtaining robust andconsistent relative motion estimates of the vehicle frame. Contrarily, GlobalPositioning System (GPS) measurements are typically used for absolutepositioning and localization. However, when the constraint on absolute accuracyis relaxed, time-differenced carrier phase (TDCP) measurements can be used tofind accurate relative position estimates with one single-frequency GPSreceiver. This suggests practitioners may want to consider GPS odometry as analternative or in combination with VO. We describe a robust method forsingle-receiver GPS odometry on an unmanned ground vehicle (UGV). We thenpresent an experimental comparison of the two strategies on the same testtrajectories. After 1.8km of testing, the results show our GPS odometry methodhas a 75% lower drift rate than a proven stereo VO method while maintaining asmooth error signal despite varying satellite availability.

Experimental Comparison of Visual and Single-Receiver GPS Odometry