Multi-Sensor Fusion (GNSS, IMU, Camera) 多源多传感器融合定位 GPS/INS组合导航 PPP/INS紧组合

Kalman filter, sensor fusion

Header only C++ implementation of standard and extended Kalman filters.

A small collection of Kalman Filters on Lie groups

ROS wrapper for the invariant-ekf C++ library.

Udacity CarND-Extended-Kalman-Filter project

Unscented Kalman Filter library for state and parameter estimation

Header-only C++11 Kalman Filtering Library (EKF, UKF) based on Eigen3

MSF - Modular framework for multi sensor fusion based on an Extended Kalman Filter (EKF)

The fuse stack provides a general architecture for performing sensor fusion live on a robot. Some possible applications include state estimation, localization, mapping, and calibration.

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

MaRS: A Modular and Robust Sensor-Fusion Framework

gps_imu_fusion with eskf,ekf,ukf,etc

误差状态卡尔曼ESKF滤波器融合GPS和IMU，实现更高精度的定位

ROS tools for IMU devices

C++ library to implement invariant extended Kalman filtering for aided inertial navigation.

robot_localization is a package of nonlinear state estimation nodes. The package was developed by Charles River Analytics, Inc. Please ask questions on answers.ros.org.

An in-depth step-by-step tutorial for implementing sensor fusion with robot_localization! 🛰

中文文档：IMU预积分总结与公式推导

A wheel-mounted MEMS IMU-based dead reckoning system.

IMU pose tracking

ROS Package to estimate the variance of the inertial data from an IMU to be used to populate the error covariance matrix

OpenCalib: A Multi-sensor Calibration Toolbox for Autonomous Driving

Invariant Kalman Filtering for the Clearpath Robotics Husky Robot

ROS compatible tool to generate Allan Deviation plots

Precise localization based on GNSS and IMU.

Implementation of "An Analytical Solution to the IMU Initialization Problem for Visual-Inertial Systems"

IESKF-LIO reference to fast_lio1.0(参考fast-lio早期版本，复现的fast-lio2)