https://fr.mathworks.com/help/nav/ref/wheelencoderodometryunicycle-system-object.html
wheelEncoderOdometryUnicycle - Compute unicycle odometry using wheel encoder ticks and angular...
The wheelEncoderOdometryUnicycle System object computes unicycle odometry using the wheel encoder ticks and angular velocity.
wheel encodercomputeunicycleodometryusing