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A ROS node to perform a probabilistic 3-D/6-DOF localization system for mobile robots with 3-D LIDAR(s). It implements pointcloud based Monte Carlo localization that uses a reference pointcloud as …
An efficient and robust multisensor-aided inertial navigation system with online calibration that is capable of fusing IMU, camera, LiDAR, GPS/GNSS, and wheel sensors. Use cases: VINS/VIO, GPS-INS,…
Fusing GPS, IMU and Encoder sensors for accurate state estimation.
Custom simulator with my implementations of EKF-, UKF-, and Pose-Graph-SLAM
Python sample codes and textbook for robotics algorithms.
Dead Reckoning In Field Time: Symmetry-Preserving State Estimation Library for Various Robotic Platforms
C++ library to implement invariant extended Kalman filtering for aided inertial navigation.