Omnidirectional Autonomous Navigation With Multi-Camera RGBD Odometry

Omnidirectionality, that is (in the autonomous navigation context), ability to move in any direction at all times without extensive turning provides some nuances that can be leveraged greatly in many scenarios. This paper aims to describe an approach to omnidirectional autonomous navigation and localization based on the Kalman Planetary Rover developed by the AGH Space Systems team at the Faculty of Mechanical Engineering and Robotics at AGH University of Krakow.