Python package for the evaluation of odometry and SLAM

Underwater Navigation with tightly coupled fusion of Visual Inertial Sonar and Depth Information

Python scripts performing stereo depth estimation using the CREStereo model in ONNX.

Extremely simple yet powerful header-only C++ plotting library built on the popular matplotlib

Extract rosbag files to EUROC/ASL UMH format

Scripts to convert a rosbag into Euroc dataset format.

A ROS package tool to analyze the IMU performance.

Source code of disparity estimation module for "UWStereoNet: Unsupervised Learning for Depth Estimation and Color Correction of Underwater Stereo Imagery"

monocular visual inertial system with point and line features

ROS compatible tool to generate Allan Deviation plots

An open source platform for visual-inertial navigation research.

为水下机器人准备的图像处理模块

msckf_vio with GPS fusion

The Kalibr visual-inertial calibration toolbox

Stereo version of OrcVIO in C++

Source code for the paper DM-VIO: Delayed Marginalization Visual-Inertial Odometry

Python implementation of Multi-State Constraint Kalman Filter (MSCKF) for Vision-aided Inertial Navigation.

Stereo convolutional neural network for depth map prediction from stereo images

Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight

Forked from ORB-SLAM2: https://github.com/raulmur/ORB_SLAM2

VINS-Fusion源码详细注释，单双目、IMU、GPS

An optimization-based multi-sensor state estimator

time delay single and multi sensor fusion framework based on an EKF

OKVIS: Open Keyframe-based Visual-Inertial SLAM (ROS Version)

WeChat Official Accounts, zhihu and CSDN'blog code

robot_pose_ekf package for ROS Melodic and later

Lightweight C/C++ Extended Kalman Filter with Python for prototyping