A Multi State Constraint Equivariant Filter for Vision-aided Inertial Navigation
☆133Feb 19, 2025Updated last year
Alternatives and similar repositories for MSCEqF
Users that are interested in MSCEqF are comparing it to the libraries listed below. We may earn a commission when you buy through links labeled 'Ad' on this page.
Sorting:
- EqVIO: An Equivariant Filter for Visual Inertial Odometry☆111Aug 28, 2024Updated last year
- Equivariant Filter implementation for attitude, gyroscope bias and calibration estimation. From "Overcoming Bias: Equivariant Filter Desi…☆57Jan 12, 2025Updated last year
- T-ESKF: Transformed Error-State Kalman Filter for Consistent Visual-Inertial Navigation☆80Dec 8, 2025Updated 3 months ago
- ☆53Jan 3, 2023Updated 3 years ago
- A C++ header-only Eigen-based Library for Lie group operations☆298Jan 12, 2025Updated last year
- [ICRA 2023] Robust Incremental Smoothing and Mapping (riSAM) published in ICRA 2023☆151Aug 16, 2023Updated 2 years ago
- A state estimation package for Lie groups!☆187Nov 25, 2025Updated 3 months ago
- Continuous preintegration☆132Dec 19, 2025Updated 3 months ago
- A C++ header-only Eigen-based Library for equivariant Inertial Measurement Unit (IMU) preintegration☆172Jan 21, 2025Updated last year
- MaRS: A Modular and Robust Sensor-Fusion Framework☆349Apr 23, 2025Updated 11 months ago
- Adaptive Graduated Non-Convexity for Pose Graph Optimization☆68Oct 20, 2023Updated 2 years ago
- An invariant filter to fuse monocular/stereo visual-inertial-raw GNSS.☆193Jan 7, 2026Updated 2 months ago
- [TIM'2024] Official codes of AM-Align: Globally Optimal Estimation of Accelerometer-Magnetometer Misalignment☆32Feb 23, 2025Updated last year
- An efficient and robust multisensor-aided inertial navigation system with online calibration that is capable of fusing IMU, camera, LiDAR…☆675Oct 8, 2024Updated last year
- A tightly coupled LIO framework based on the equivariant filter.☆82Sep 14, 2024Updated last year
- Code for RA-L paper "RMS: Redundancy-Minimizing Point Cloud Sampling for Real-Time Pose Estimation"☆141Feb 20, 2025Updated last year
- Visual Inertial Odometry (VIO) / Simultaneous Localization & Mapping (SLAM) using iSAM2 framework from the GTSAM library.☆153Sep 3, 2020Updated 5 years ago
- C++ Implementation of "An Equivariant Filter for Visual Inertial Odometry", ICRA 2021☆81Jul 28, 2022Updated 3 years ago
- This is the official repo of the project gnssFGO.☆164Aug 25, 2024Updated last year
- Factored inference for discrete-continuous smoothing and mapping.☆155Mar 4, 2026Updated 2 weeks ago
- Tightly coupled lidar-visual-inertial slam using the fuse framework☆90May 14, 2025Updated 10 months ago
- IPC: Incremental Probabilistic Consensus-based Consistent Set Maximization for SLAM Backends☆51Feb 16, 2026Updated last month
- Graph-based, sparse radar-inertial odometry estimation☆149Aug 4, 2025Updated 7 months ago
- ☆16Nov 9, 2023Updated 2 years ago
- Optimization Based and Point Uncertainty Aware Radar-inertial Odometry for 4D Radar System☆190Mar 13, 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…☆308Jul 4, 2023Updated 2 years ago
- Code of paper "Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration with Rotating Earth"☆95Aug 7, 2020Updated 5 years ago
- Hierarchical Initialization for Pose Graphs☆31Nov 18, 2021Updated 4 years ago
- OR-LIM: Observability-aware robust LiDAR-Inertial-Mapping under High Dynamic Sensor Motion☆69Jan 16, 2026Updated 2 months ago
- Modular, open-source implementations of continuous-time simultaneous localization and mapping algorithms.☆250Jul 22, 2024Updated last year
- ☆92Aug 13, 2025Updated 7 months ago
- Isolated Kalman Filtering C++ library☆17Dec 29, 2025Updated 2 months ago
- [RA-L 2022] Ctrl-VIO: Continuous-Time Visual-Inertial Odometry for Rolling Shutter Cameras☆241Aug 23, 2023Updated 2 years ago
- Invariant EKF, Lidar-Inertial Odometry☆36Oct 20, 2023Updated 2 years ago
- Minimal, robust, accurate and real-time LiDAR odometry☆326Feb 20, 2026Updated last month
- [IEEE RA-L 2024] River: A Tightly-Coupled Radar-Inertial Velocity Estimator Based on Continuous-Time Optimization☆101Nov 21, 2024Updated last year
- State Estimation through Robust Perception in Extreme and Novel Terrains☆50Oct 1, 2023Updated 2 years ago
- ☆35Aug 25, 2024Updated last year
- A panoramic direct LiDAR-assisted visual odometry☆62Sep 16, 2025Updated 6 months ago