Estimates pose, velocity, and accelerometer / gyroscope biases by fusing GPS position and/or 6DOF pose with IMU data. The fusion is done using GTSAM's sparse nonlinear incremental optimization (ISAM2). The ROS (rospy) node is implemented using GTSAM's python3 inteface.
☆107May 19, 2025Updated 9 months ago
Alternatives and similar repositories for gtsam_fusion
Users that are interested in gtsam_fusion are comparing it to the libraries listed below
Sorting:
- A panoramic direct LiDAR-assisted visual odometry☆60Sep 16, 2025Updated 5 months ago
- Scan Context with CT_ICP☆31Jul 6, 2023Updated 2 years ago
- [IROS'22] Official code repo for "A LiDAR-inertial Odometry with Principled Uncertainty Modeling"☆84Jan 5, 2023Updated 3 years ago
- Visual Inertial Odometry (VIO) / Simultaneous Localization & Mapping (SLAM) using iSAM2 framework from the GTSAM library.☆153Sep 3, 2020Updated 5 years ago
- Quantitative 3D Map Accuracy Evaluation Hardware and Algorithm for LiDAR(-Inertial) SLAM [IEEE ICCAS 2024]☆31Sep 1, 2025Updated 6 months ago
- Repository for 3D localization and mapping of multi-agricultural scenes via a hierarchically-coupled LiDAR-Inertial Odometry☆59Sep 4, 2024Updated last year
- A LiDAR-Inertial Odometry with Efficient Uncertainty Analysis.☆186May 14, 2024Updated last year
- fuse IMU data and Odometry☆192Jun 18, 2023Updated 2 years ago
- The code of ICRA 2023☆61Sep 16, 2022Updated 3 years ago
- ☆172Nov 1, 2022Updated 3 years ago
- Distributed Pose Graph Optimization☆204Jun 17, 2024Updated last year
- A reinforced LiDAR inertial odometry system provides accurate and robust 6-DoF movement estimation under challenging perceptual condition…☆128Nov 24, 2022Updated 3 years ago
- [IROS 2023] Fast LiDAR-Inertial Odometry via Incremental Plane Pre-Fitting and Skeleton Tracking☆221Mar 23, 2024Updated last year
- Tightly coupled lidar-visual-inertial slam using the fuse framework☆90May 14, 2025Updated 9 months ago
- A simple implementation of paper "A Fast Histogram-Based Similarity Measure for Detecting Loop Closures in 3-D LIDAR Data"☆11Jun 6, 2019Updated 6 years ago
- [ICRA@40] MS-Mapping: An Uncertainty-Aware Large-Scale Multi-Session LiDAR Mapping System☆340Aug 21, 2025Updated 6 months ago
- OR-LIM: Observability-aware robust LiDAR-Inertial-Mapping under High Dynamic Sensor Motion☆69Jan 16, 2026Updated last month
- Tightly-coupled Direct LiDAR-Inertial Odometry and Mapping Based on Cartographer3D.☆325Jul 14, 2023Updated 2 years ago
- Collaborative MCL☆19Sep 3, 2025Updated 6 months ago
- Rotation only PGO + translation only PGO + 6DOF PGO by ceres☆23Jul 14, 2025Updated 7 months ago
- ☆111Sep 11, 2024Updated last year
- ☆308Jan 27, 2026Updated last month
- A simple LiDAR odometry method reducing the complexity and configuration burden of localization algorithms.☆90Dec 30, 2025Updated 2 months ago
- Continual SLAM: Beyond Lifelong Simultaneous Localization and Mapping through Continual Learning. http://continual-slam.cs.uni-freiburg.d…☆166Mar 6, 2025Updated last year
- cheatsheet of all the basics notions of Lie algebra☆78Sep 29, 2022Updated 3 years ago
- GLIO: Tightly-Coupled GNSS/LiDAR/IMU Integration for Continuous and Drift-free State Estimation☆391Dec 27, 2023Updated 2 years ago
- The full_linear_wheel_odometry_factor provides motion constraints and online calibration for skid-steering robots. This constraint can be…☆100Jul 21, 2025Updated 7 months ago
- A LiDAR-Inertial Odometry with Efficient Local Geometric Information Estimation☆175May 3, 2024Updated last year
- ImMesh_PGO: An Immediate LiDAR Localization and Meshing Framework with Loop Closure☆33Nov 23, 2024Updated last year
- FI-SLAM: Feature Information-Based Robust and Efficient Vision-Inertial-Aided LiDAR SLAM☆28Jun 4, 2024Updated last year
- SOTA LiDAR Global Descriptor in LiDAR Place Recognition (accepted in RA-L'24 w/ ICRA'25)☆186May 13, 2025Updated 9 months ago
- Beyond Pure Geometry: An Uncertainty-Driven Perspective on Long-Term LiDAR Localization☆60Mar 14, 2025Updated 11 months ago
- ☆19Aug 26, 2024Updated last year
- Multirobot SLAM system for underwater vehicles with imaging sonar☆40May 29, 2023Updated 2 years ago
- Scale Optimized Spline SLAM☆54Apr 7, 2022Updated 3 years ago
- A probabilistic voxelmap-based LiDAR-Inertial Odometry.☆505Oct 9, 2023Updated 2 years ago
- ROS 2 package of tightly-coupled lidar inertial ndt/gicp slam☆413Dec 23, 2025Updated 2 months ago
- A real-time, direct and tightly-coupled LiDAR-Inertial SLAM for high velocities with spinning LiDARs☆317Mar 2, 2025Updated last year
- Visual Inertial Odometry using SuperPoint and GTSAM☆50Dec 13, 2020Updated 5 years ago