ydsf16

imu_gps_localization

Using error-state Kalman filter to fuse the IMU and GPS data for localization.

aruco_ekf_slam

ArUco-based EKF-SLAM.

TinyGrapeKit

A bunch of state estimation algorithms

dre_slam

RGB-D Encoder SLAM for a Differential-Drive Robot in Dynamic Environments

occ_grid_mapping

A simple implementation of occupancy grid mapping.

particle_filter_localization

Particle filter-based localization in an occupancy grid map.

IMUOrientationEstimator

Estimate 3DoFs orientation using IMU measurement.

PnP_Solver

Personal implementations of solvers for PnP problem, including DLT and EPnP.

LevenbergMarquardt

A simple implementation of the Levenberg Marquardt algorithm.

lidar_slam

Basic algorithms for lidar slam.

vslam

Basic algorithms for vslam.

MVG_Algorithm

Algorithms in multiple view geometry.

ground_truth_estimation_2d

2D trajectory ground truth estimation method based on a monocular camera.

Gauss_Newton_solver

A simple implementation of the Gauss-Newton method.

Steepest-Descent-Gradient-Method

A simple implementation of the gradient descent method.

awesome-gins-datasets

open_vins

An open source platform for visual-inertial navigation research.

uavbook

Repository for the textbook: Small Unmanned Aircraft: Theory and Practice, by Randy Beard and Tim McLain

kalibr_allan

IMU Allan standard deviation charts for use with Kalibr and inertial kalman filters.

okvis

OKVIS: Open Keyframe-based Visual-Inertial SLAM.