Odometry. Basic Odometry Concept. Common Wheel Encoders. Magnetic Pickup – used in most ABS Hall Effect Optical. Magnetic Pickup ABS. Incremental Optical Encoder w/ Biphase Output. Systematic Errors. Unequal wheel diameters.
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“All About ABS”; Carley, Larry; CarleySofware, 2000
Personal web page for Johann Borenstein of Univ of Michigan – many links to papers on odometry including the UMBmark standard.