Unscented Kalman Filtering on (Parallelizable) Manifolds (UKF-M)

Python implementation of a loosely coupled GNSS/IMU sensor fusion based on Matlab code from Paul Groves

LiDAR Odometry for Beginner

Blender add-on for creating OpenDRIVE and OpenSCENARIO based automotive driving scenarios including 3D models

Release repo for our SLAM Handbook

A computationally efficient and robust LiDAR-inertial odometry (LIO) package

Updated (opencv3 and camera2 API) android camera calibration application

Visual Inertial Odometry with SLAM capabilities and 3D Mesh generation.

edition 2 of the slambook

slamplay is a collection of powerful tools to start playing and experimenting with SLAM in C++

pySLAM is a Python-based Visual SLAM pipeline that supports monocular, stereo, and RGB-D cameras. It offers a wide range of modern local and global features, multiple loop-closing strategies, a vol…

Python code of the paper "Learning Wheel Odometry and IMU Errors for Localization"

IMU + X(GNSS, 6DoF Odom) Loosely-Coupled Fusion Localization based on ESKF, IEKF, UKF(UKF/SPKF, JUKF, SVD-UKF) and MAP

Vehicle State Estimation using Error-State Extended Kalman Filter

An implementation of an Error State Kalman Filter (ESKF)

A Python library to calibrate 6 DOF IMUs

3D City Database - The Open Source CityGML Database

Tutorial code referenced in https://docs.nav2.org/

Project containing demonstrations using AMD's Ryzen AI and other technologies with ROS 2

LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping

This repo demonstrates the tracking scenario for UWB Localization in ROS using the Decawave's TREK1000 (EVK1000 Evaluation Kits) and MDEK 1001 (DWM1001-DEV boards).

A driver for ublox gps

Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems

Loosely coupled integration of GNSS and IMU

Modular Python tool for parsing, analyzing, and visualizing Global Navigation Satellite Systems (GNSS) data and state estimates

Implement Error-State Extended Kalman Filter on fusing data from IMU, Lidar and GNSS.

This repository stores the codes of my master's thesis "Semantic Landmark-based Localization in HD-Maps using Object-level Detections." The publication to ITSC 2021 based on this work is in progress.