C++ library to implement invariant extended Kalman filtering for aided inertial navigation.
☆559Aug 17, 2019Updated 6 years ago
Alternatives and similar repositories for invariant-ekf
Users that are interested in invariant-ekf are comparing it to the libraries listed below. We may earn a commission when you buy through links labeled 'Ad' on this page.
Sorting:
- ROS wrapper for the invariant-ekf C++ library.☆59Aug 17, 2019Updated 6 years ago
- Example code for contact-aided invariant extended Kalman filtering.☆105Sep 4, 2018Updated 7 years ago
- A small collection of Kalman Filters on Lie groups☆388Apr 13, 2023Updated 3 years ago
- A computationally efficient and convenient toolkit of iterated Kalman filter.☆563Jun 16, 2023Updated 3 years ago
- Pronto - Legged Robot State Estimator - libraries, ROS wrapper and messages☆319Jun 20, 2026Updated last month
- Managed Kubernetes at scale on DigitalOcean • AdDigitalOcean Kubernetes includes the control plane, bandwidth allowance, container registry, automatic updates, and more for free.
- InEKF: The Invariant Extended Kalman Filter on Matrix Lie Groups☆67Nov 11, 2023Updated 2 years ago
- Code of paper "Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration with Rotating Earth"☆96Aug 7, 2020Updated 5 years ago
- A small C++11 header-only library for Lie theory.☆1,794Jul 15, 2026Updated 2 weeks ago
- Dead Reckoning In Field Time: Symmetry-Preserving State Estimation Library for Various Robotic Platforms☆180Jun 1, 2026Updated last month
- A real-time, direct and tightly-coupled LiDAR-Inertial SLAM for high velocities with spinning LiDARs☆318Mar 2, 2025Updated last year
- A graph-based multi-sensor fusion framework. It can be used to fuse various relative or absolute measurments with IMU readings in real-ti…☆316Jul 4, 2023Updated 3 years ago
- IMU + X(GNSS, 6DoF Odom) Loosely-Coupled Fusion Localization based on ESKF, IEKF, UKF(UKF/SPKF, JUKF, SVD-UKF) and MAP☆1,117Mar 28, 2025Updated last year
- Continuous preintegration☆137Dec 19, 2025Updated 7 months ago
- Visual-Inertial-Leg Odometry For Legged Robots☆380Jul 23, 2023Updated 3 years ago
- Deploy to Railway using AI coding agents - Free Credits Offer • AdUse Claude Code, Codex, OpenCode, and more. Autonomous software development now has the infrastructure to match with Railway.
- Robocentric Visual-Inertial Odometry☆899Apr 23, 2023Updated 3 years ago
- Implementation of "An Analytical Solution to the IMU Initialization Problem for Visual-Inertial Systems"☆152May 10, 2021Updated 5 years ago
- A lightweight, accurate and robust monocular visual inertial odometry based on Multi-State Constraint Kalman Filter.☆802Apr 10, 2024Updated 2 years ago
- An invariant filter to fuse monocular/stereo visual-inertial-raw GNSS.☆197Jan 7, 2026Updated 6 months ago
- Automatic Differentiated Extended Kalman Filter (ADEKF) - This is a generic EKF Implementation that uses automatic differentiation to get…☆124Jan 12, 2026Updated 6 months ago
- A Lidar-Inertial State Estimator for Robust and Efficient Navigation based on iterated error-state Kalman filter☆775Oct 19, 2020Updated 5 years ago
- Invariant Kalman Filter in SE(2) and SE(3)☆70Jan 23, 2024Updated 2 years ago
- ☆31Jun 17, 2023Updated 3 years ago
- Asynchronous Multiple LiDAR-Inertial Odometry using Point-wise Inter-LiDAR Uncertainty Propagation☆389Dec 1, 2025Updated 7 months ago
- Bare Metal GPUs on DigitalOcean Gradient AI • AdPurpose-built for serious AI teams training foundational models, running large-scale inference, and pushing the boundaries of what's possible.
- 🤔 MULLS: Versatile LiDAR SLAM via Multi-metric Linear Least Square [ICRA 21]☆653Jan 17, 2024Updated 2 years ago
- C++ Implementation of "An Equivariant Filter for Visual Inertial Odometry", ICRA 2021☆81Jul 28, 2022Updated 4 years ago
- [TMECH 2023] Continuous-Time Fixed-Lag Smoothing for LiDAR-Inertial-Camera SLAM☆214May 6, 2024Updated 2 years ago
- Robust Lidar Odometry System☆389Apr 29, 2023Updated 3 years ago
- [IEEE RA-L & ICRA'22] A lightweight and computationally-efficient frontend LiDAR odometry solution with consistent and accurate localizat…☆1,042Jun 8, 2024Updated 2 years ago
- A Multi State Constraint Equivariant Filter for Vision-aided Inertial Navigation☆140Jul 3, 2026Updated 3 weeks ago
- ☆69Apr 6, 2023Updated 3 years ago
- An implementation of the SE-Sync algorithm for synchronization over the special Euclidean group.☆437Aug 15, 2024Updated last year
- MaRS: A Modular and Robust Sensor-Fusion Framework☆357Apr 23, 2025Updated last year
- Deploy on Railway without the complexity - Free Credits Offer • AdConnect your repo and Railway handles the rest with instant previews. Quickly provision container image services, databases, and storage volumes.
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆57Feb 19, 2023Updated 3 years ago
- Plane Segmentation Utilites☆185Dec 8, 2021Updated 4 years ago
- Lie theory for robotics☆213Oct 18, 2024Updated last year
- [RA-L 2022] Ctrl-VIO: Continuous-Time Visual-Inertial Odometry for Rolling Shutter Cameras☆244Aug 23, 2023Updated 2 years ago
- A state estimation package for Lie groups!☆192Apr 30, 2026Updated 2 months ago
- Equivariant Filter implementation for attitude, gyroscope bias and calibration estimation. From "Overcoming Bias: Equivariant Filter Desi…☆57Jan 12, 2025Updated last year
- Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight☆1,957Nov 22, 2023Updated 2 years ago