MIT-SPARK / GNC-and-ADAPT
Graduated Non-Convexity (GNC) and Adaptive Trimming (ADAPT) algorithms for outlier robust estimation
☆129Updated 4 years ago
Alternatives and similar repositories for GNC-and-ADAPT:
Users that are interested in GNC-and-ADAPT are comparing it to the libraries listed below
- Implementation for IROS2020: "GMMLoc: Structure Consistent Visual Localization with Gaussian Mixture Model"☆133Updated 4 years ago
- TRO 2022 - QPEP: A C++/MATLAB library for solving generalized quadratic pose estimation problems and related uncertainty description☆177Updated last year
- Factored inference for discrete-continuous smoothing and mapping.☆146Updated last month
- Visual Inertial Odometry (VIO) / Simultaneous Localization & Mapping (SLAM) using iSAM2 framework from the GTSAM library.☆148Updated 4 years ago
- This repo contains the code of the paper "Continuous-Time vs. Discrete-Time Vision-based SLAM: A Comparative Study", RA-L 2022.☆200Updated 2 years ago
- Code for the paper "A New Approach to 3D ICP Covariance Estimation for Mobile Robotics"☆98Updated 5 years ago
- Probabilistic Data Association via Mixture Models for Robust Semantic SLAM☆61Updated 4 years ago
- Code for "Photometric Visual-Inertial Navigation with Uncertainty-Aware Ensembles" in TRO 2022☆154Updated last year
- Certifiably globally optimal extrinsic calibration for sensors providing egomotion estimates.☆75Updated 2 years ago
- Plug-and-Play SLAM core repository. Atomic and compound SLAM modules☆81Updated 4 years ago
- Interface for OpenVINS with the maplab project☆88Updated last year
- Implementation of "An Analytical Solution to the IMU Initialization Problem for Visual-Inertial Systems"☆141Updated 3 years ago
- An extension of gtsam to provide support for optimizing quadric landmarks☆140Updated 2 years ago
- Distributed Pose Graph Optimization☆191Updated 9 months ago
- Continuous-Time Spline Visual-Inertial Odometry☆92Updated 2 years ago
- ☆129Updated last year
- EqVIO: An Equivariant Filter for Visual Inertial Odometry☆88Updated 7 months ago
- A project of Visual Inertial Odometry for Autonomous Vehicle☆127Updated 5 years ago
- [ICRA 2023] Robust Incremental Smoothing and Mapping (riSAM) published in ICRA 2023☆142Updated last year
- This library is an implementation of the algorithm described in Distributed Trajectory Estimation with Privacy and Communication Constrai…☆65Updated 2 years ago
- Hybrid Sparse Visual Odometry☆101Updated 2 years ago
- MD-SLAM: Multi-cue Direct SLAM. Implements the first photometric LiDAR SLAM pipeline, that works withouth any explicit geometrical assump…☆155Updated last year
- Implementation of Monocular Direct Sparse Localization in a Prior 3D Surfel Map (DSL)☆108Updated 3 years ago
- This library is an implementation of the algorithm described in Distributed Trajectory Estimation with Privacy and Communication Constrai…☆118Updated 4 years ago
- Semi-Dense Direct Visual-Inertial Odometry☆98Updated 4 years ago
- Rotation-Only Bundle Adjustment☆61Updated 3 years ago
- Official code release for Doppler ICP☆175Updated 8 months ago
- ILS-based SLAM-focused solver☆137Updated 4 years ago
- Certifiable Outlier-Robust Geometric Perception☆115Updated last year
- IMU pre-integrator for VIO pipeline☆83Updated 4 years ago