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Edern Ollivier edited this page Apr 7, 2022
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Welcome to the ParentScheme wiki!
The Scheme is coming from the linearization of the odometric model, it deals with the approximation done taking the variables delta and speed into account, with the respect to the derivative term in time, anyone can call it the taylor's approximation in maths, well it used to be a kinematic model of the odometry to approximate when the frequency become too quick.