Olfactory Inertial Odometry: Sensor Calibration and Drift Compensation

• URL: http://arxiv.org/abs/2506.04539v1
• Date: Thu, 05 Jun 2025 01:16:39 GMT
• Title: Olfactory Inertial Odometry: Sensor Calibration and Drift Compensation
• Authors: Kordel K. France, Ovidiu Daescu, Anirban Paul, Shalini Prasad,
• Abstract summary: Olfactory inertial odometry (OIO) fuses signals from gas sensors with inertial data to help a robot navigate by scent.<n>Gas dynamics and environmental factors introduce disturbances into olfactory navigation tasks that can make OIO difficult to facilitate.<n>We demonstrate our process for OIO calibration on a real robotic arm and show how this calibration improves performance over a cold-start olfactory navigation task.
• Score: 0.0
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Visual inertial odometry (VIO) is a process for fusing visual and kinematic data to understand a machine's state in a navigation task. Olfactory inertial odometry (OIO) is an analog to VIO that fuses signals from gas sensors with inertial data to help a robot navigate by scent. Gas dynamics and environmental factors introduce disturbances into olfactory navigation tasks that can make OIO difficult to facilitate. With our work here, we define a process for calibrating a robot for OIO that generalizes to several olfaction sensor types. Our focus is specifically on calibrating OIO for centimeter-level accuracy in localizing an odor source on a slow-moving robot platform to demonstrate use cases in robotic surgery and touchless security screening. We demonstrate our process for OIO calibration on a real robotic arm and show how this calibration improves performance over a cold-start olfactory navigation task.

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