I have a cart for my InMoov and wanted to add a bit of autonomy to it. I already have a cart control app and I am able to identify an Aruco marker and extract its distance and orientation.
My current steps are now moving the cart to a position in front of the marker and I would like to keep track of the distance travelled and possibly - with the help of the kinect camera - build kind of a map of my room..
My cart has a bno055 mounted on it so I can get its current direction and theoretically the accelerations. I do not have an odometer or wheel rotation sensor. Looked around for examples how to use the bno055 to do some kind of odometry but was not successful.
Adding sensors to track wheel rotations could help but due to fact that mecanum wheels include a lot of sliding I am a bit uncertain if it is worth the rather big effort to add that.
Thought that with a sensor similar to the ones used in optical mouses but with at least 1 cm airgap would be perfect but was also not able to find such a device.
Anybody able to point me to the right places to accomplish my goals?