We actually fuse the odometry measurements with those of a Hagisonic Stargazer, which is in infrared based indoor positioning system. We run both of these sensors through an unscented kalman filter, which gives us the position to within a few centimeters, without any drift over time. You can see the details of the positioning system at: http://pacman.elstonj.com/index.cgi?dir=hardware/Hagisonic%20Stargazer&num=&perpage=§ion=
Slashdot Mirror
We actually fuse the odometry measurements with those of a Hagisonic Stargazer, which is in infrared based indoor positioning system. We run both of these sensors through an unscented kalman filter, which gives us the position to within a few centimeters, without any drift over time. You can see the details of the positioning system at: http://pacman.elstonj.com/index.cgi?dir=hardware/Hagisonic%20Stargazer&num=&perpage=§ion=