A small C++11 header-only library for Lie theory.
☆1,734Nov 1, 2025Updated 4 months ago
Alternatives and similar repositories for manif
Users that are interested in manif are comparing it to the libraries listed below
Sorting:
- A small collection of Kalman Filters on Lie groups☆383Apr 13, 2023Updated 2 years ago
- C++ implementation of Lie Groups using Eigen.☆2,377Jul 6, 2024Updated last year
- GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networ…☆3,305Updated this week
- An open source platform for visual-inertial navigation research.☆2,764Nov 30, 2025Updated 3 months ago
- A general and flexible factor graph non-linear least square optimization framework☆510Jan 14, 2022Updated 4 years ago
- Fast symbolic computation, code generation, and nonlinear optimization for robotics☆1,587Feb 12, 2026Updated 3 weeks ago
- A lightweight, accurate and robust monocular visual inertial odometry based on Multi-State Constraint Kalman Filter.☆788Apr 10, 2024Updated last year
- A C++ header-only Eigen-based Library for Lie group operations☆297Jan 12, 2025Updated last year
- An implementation of the SE-Sync algorithm for synchronization over the special Euclidean group.☆427Aug 15, 2024Updated last year
- Lie theory for robotics☆206Oct 18, 2024Updated last year
- C++ library to implement invariant extended Kalman filtering for aided inertial navigation.☆534Aug 17, 2019Updated 6 years ago
- A computationally efficient and convenient toolkit of iterated Kalman filter.☆535Jun 16, 2023Updated 2 years ago
- An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)☆847Nov 3, 2025Updated 4 months ago
- ILS-based SLAM-focused solver☆139Mar 7, 2021Updated 4 years ago
- Visual Inertial Odometry with SLAM capabilities and 3D Mesh generation.☆1,830Mar 1, 2025Updated last year
- Robocentric Visual-Inertial Odometry☆841Apr 23, 2023Updated 2 years ago
- A Modular and Multi-Modal Mapping Framework☆2,819May 31, 2024Updated last year
- CUDA Visual Library by RPG☆458Jun 25, 2021Updated 4 years ago
- Robust Pose Graph Optimization☆551Oct 27, 2025Updated 4 months ago
- Python package for the evaluation of odometry and SLAM☆4,144Feb 11, 2026Updated 3 weeks ago
- A fast and robust point cloud registration library☆2,222Dec 9, 2025Updated 2 months ago
- A collection of GICP-based fast point cloud registration algorithms☆1,598Apr 24, 2025Updated 10 months ago
- Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)☆1,000Feb 13, 2020Updated 6 years ago
- (ICRA 2019) Visual-Odometric On-SE(2) Localization and Mapping☆409Jun 4, 2024Updated last year
- Python implementation of SO2, SE2, SO3, and SE3 matrix Lie groups using numpy or pytorch☆358Apr 1, 2025Updated 11 months ago
- Voxblox-based Pose graph optimization☆548May 6, 2022Updated 3 years ago
- The Kalibr visual-inertial calibration toolbox☆5,292Mar 30, 2024Updated last year
- An efficient and consistent bundle adjustment for lidar mapping☆886Aug 19, 2024Updated last year
- A library for flexible voxel-based mapping, mainly focusing on truncated and Euclidean signed distance fields.☆1,591Jul 1, 2024Updated last year
- Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight☆1,918Nov 22, 2023Updated 2 years ago
- A Modular Optimization framework for Localization and mApping (MOLA)☆869Updated this week
- Fast LOAM: Fast and Optimized Lidar Odometry And Mapping for indoor/outdoor localization IROS 2021☆1,140Jul 30, 2024Updated last year
- Robust Lidar Odometry System☆384Apr 29, 2023Updated 2 years ago
- A state estimation package for Lie groups!☆185Nov 25, 2025Updated 3 months ago
- LaTeX sources of the technical report "A tutorial on SE(3) transformation parameterizations and on-manifold optimization"☆195Apr 21, 2022Updated 3 years ago
- X Inertial-aided Visual Odometry☆889Feb 24, 2023Updated 3 years ago
- This repository provides implementation of an incremental k-d tree for robotic applications.☆772Nov 21, 2022Updated 3 years ago
- IMU + X(GNSS, 6DoF Odom) Loosely-Coupled Fusion Localization based on ESKF, IEKF, UKF(UKF/SPKF, JUKF, SVD-UKF) and MAP☆1,069Mar 28, 2025Updated 11 months ago
- Distributed Pose Graph Optimization☆204Jun 17, 2024Updated last year