  This paper describes the design and development of a non-intrusive inertial
speed sensor that can be reliably used to replace a conventional optical or
hall effect-based speedometer on any kind of ground vehicle. The design allows
for simple assembly-disassembly from tyre rims. The sensor design and data flow
are explained. Algorithms and filters for pre-processing and processing the
data are detailed. Comparison with a real optical encoder proves the accuracy
of the proposed sensor. Finally, it is shown that factor graph-based
localization is possible with the developed sensor.
