A Robust and Versatile Monocular Visual-Inertial State Estimator

Track Advancement of SLAM 跟踪SLAM前沿动态【2021 version】業務調整，暫停更新

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

A small C++11 header-only library for Lie theory.

Monocular Visual-Inertial State Estimator on Mobile Phones

Convenient Power System Modelling and Analysis based on PYPOWER and pandas

AI-IMU Dead-Reckoning

An implementation of AVP-SLAM and some new contributions

Fusing GPS, IMU and Encoder sensors for accurate state estimation.

Unscented Kalman Filter library for state and parameter estimation

(ICRA 2019) Visual-Odometric On-SE(2) Localization and Mapping

Resources on various topics being worked on at IvLabs

Data Assimilation with Python: a Package for Experimental Research

A probabilistic voxelmap-based LiDAR-Inertial Odometry.

A small collection of Kalman Filters on Lie groups

A bunch of state estimation algorithms

A graph-based multi-sensor fusion framework. It can be used to fuse various relative or absolute measurments with IMU readings in real-time.

Vehicle State Estimation using Error-State Extended Kalman Filter

SE(2)-Constrained Localization and Mapping by Fusing Odometry and Vision (IEEE Transactions on Cybernetics 2019)

Visual Inertial Odometry (VIO) / Simultaneous Localization & Mapping (SLAM) using iSAM2 framework from the GTSAM library.