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Open AccessArticle
Fuzzy Fusion of Monocular ORB-SLAM2 and Tachometer Sensor for Car Odometry
Tecnológico Nacional de México en Celaya, Antonio García Cubas, Pte #600 Esquina. Av. Tecnológico, Celaya 38010, Mexico
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Appl. Syst. Innov. 2025, 8(6), 188; https://doi.org/10.3390/asi8060188 (registering DOI)
Submission received: 13 October 2025
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Revised: 24 November 2025
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Accepted: 28 November 2025
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Published: 30 November 2025
Abstract
Estimating the absolute scale of reconstructed camera trajectories in monocular odometry is a challenging task due to the inherent scale ambiguity in any monocular vision system. One promising solution is to fuse data from different sensors, which can improve the accuracy and precision of scale estimation. However, this approach often requires additional effort in sensor design and data processing. In this paper, we propose a novel method for fusing single-camera data with wheel odometer readings using a fuzzy system. The architecture of the fuzzy system has as inputs the wheel odometer value and the translation and rotation obtained from ORB-SLAM2. It was trained with the ANFIS tool in MATLAB 2014b. Our approach yields significantly better results compared to state-of-the-art pure monocular systems. In our experiments, the average error relative to GPS measurements was only four percent. A key advantage of this method is the elimination of the sensor calibration step, allowing for straightforward data fusion without a substantial increase in data processing demands.
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MDPI and ACS Style
Lázaro Mata, D.; Padilla Medina, J.A.; Martínez Nolasco, J.J.; Prado Olivarez, J.; Barranco Gutiérrez, A.I.
Fuzzy Fusion of Monocular ORB-SLAM2 and Tachometer Sensor for Car Odometry. Appl. Syst. Innov. 2025, 8, 188.
https://doi.org/10.3390/asi8060188
AMA Style
Lázaro Mata D, Padilla Medina JA, Martínez Nolasco JJ, Prado Olivarez J, Barranco Gutiérrez AI.
Fuzzy Fusion of Monocular ORB-SLAM2 and Tachometer Sensor for Car Odometry. Applied System Innovation. 2025; 8(6):188.
https://doi.org/10.3390/asi8060188
Chicago/Turabian Style
Lázaro Mata, David, José Alfredo Padilla Medina, Juan José Martínez Nolasco, Juan Prado Olivarez, and Alejandro Israel Barranco Gutiérrez.
2025. "Fuzzy Fusion of Monocular ORB-SLAM2 and Tachometer Sensor for Car Odometry" Applied System Innovation 8, no. 6: 188.
https://doi.org/10.3390/asi8060188
APA Style
Lázaro Mata, D., Padilla Medina, J. A., Martínez Nolasco, J. J., Prado Olivarez, J., & Barranco Gutiérrez, A. I.
(2025). Fuzzy Fusion of Monocular ORB-SLAM2 and Tachometer Sensor for Car Odometry. Applied System Innovation, 8(6), 188.
https://doi.org/10.3390/asi8060188
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