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Odometry has the potential for "catastrophic" non-systematic errors
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For example: unexpected bumps or other large irregularities on the ground
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Mobile robots cannot be calibrated to compensate for non-systematic errors
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It is not possible to predict the frequency or magnitude of non-systematic errors
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All gyroscopes -- even the most accurate fiber optics gyros -- suffer from drift.
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This results in continuous and unbounded growth of the orientation error over time.
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All gyroscopes -- even the most accurate fiber optics gyros -- have a “minimum detection rate.”
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That means: very slow rotation of the vehicle is not registered at all.
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