Comparisson between generalized geometric triangulation and odometry

The localization in mobile robotics is essential for carrying out autonomous tasks. For this reason, different algorithms have been developed to estimate the robot's pose, either relatively or absolutely. One of the best known is Wheel-based Odometry, which is easy to implement but the error tends to increase with respect to time producing an unreliable estimation. In contrast, absolute localization algorithms such as Generalized Geometric Triangulation (GGT) offer higher accuracy, although their implementation may require more advanced measurement systems, and pose estimation can be slow. This work compares these two algorithms and shows what happens with the pose estimation when used for period of time. The presented results were obtained in a real testing area equipped with a Turtlebot3 model burger robot.