ESTIMATING VEHICLE VELOCITY BASED ON VARIABLES ASSOCIATED WITH WHEELS

Techniques are described for using variables associated with vehicle wheels (e.g., linear velocity at a wheel and orientation of the wheel) to estimate velocity of a vehicle during a turn maneuver. In examples of the disclosure, in association with one or more wheels, a wheel orientation during the maneuver and a linear speed during the maneuver may be determined, and well as a yaw rate (e.g., from an inertial measurement unit, gyroscope, etc.) of the vehicle. Examples of the present disclosure include, based on the variables associated with the wheel(s) and the yaw rate associated with the turn maneuver, estimating a vehicle velocity, which may be used by various downstream components, such as to determine or update a pose of a vehicle as part of a localization operation.