Sample code for marginalization of SLAM, Visual-Inertial Odometry.
☆162Jun 9, 2023Updated 2 years ago
Alternatives and similar repositories for marginalization
Users that are interested in marginalization are comparing it to the libraries listed below
Sorting:
- Sparsify pose graph to speed the optimization process☆48Nov 16, 2018Updated 7 years ago
- Lvio-Fusion: A Self-adaptive Multi-sensor Fusion SLAM Framework Using Actor-critic Method (IROS 2021)☆270Oct 4, 2021Updated 4 years ago
- Closed-form Preintegration for Graph-based Visual-Inertial Navigation☆253Jun 10, 2019Updated 6 years ago
- Implementation of "An Analytical Solution to the IMU Initialization Problem for Visual-Inertial Systems"☆151May 10, 2021Updated 4 years ago
- OR-LIM: Observability-aware robust LiDAR-Inertial-Mapping under High Dynamic Sensor Motion☆69Jan 16, 2026Updated last month
- A lightweight, accurate and robust monocular visual inertial odometry based on Multi-State Constraint Kalman Filter.☆788Apr 10, 2024Updated last year
- Direct sparse odometry combined with stereo cameras and IMU☆400Jul 20, 2019Updated 6 years ago
- Visual Inertial Odometry (VIO) / Simultaneous Localization & Mapping (SLAM) using iSAM2 framework from the GTSAM library.☆153Sep 3, 2020Updated 5 years ago
- Code for Simple But Effective Redundant Odometry for Autonomous Vehicles☆114May 30, 2021Updated 4 years ago
- Code for "Photometric Visual-Inertial Navigation with Uncertainty-Aware Ensembles" in TRO 2022☆160May 2, 2023Updated 2 years ago
- Scale Optimized Spline SLAM☆53Apr 7, 2022Updated 3 years ago
- [IROS-21] RP-VIO: Robust Plane-based Visual-Inertial Odometry for Dynamic Environments (Code & Dataset)☆210Jul 17, 2022Updated 3 years ago
- LLOL: Low-Latency Odometry for Spinning Lidars☆189Mar 17, 2023Updated 2 years ago
- Implementation of Monocular Direct Sparse Localization in a Prior 3D Surfel Map (DSL)☆108Nov 18, 2021Updated 4 years ago
- Graph SLAM: VO, IMU Preintegration, Plane☆90Jul 2, 2019Updated 6 years ago
- (ICRA 2019) Visual-Odometric On-SE(2) Localization and Mapping☆409Jun 4, 2024Updated last year
- [RAL 2022] SE(3)-Transformation on Neural Implicit Maps for Remapping Functions (NIM Remapping = NIM-REM)☆71Jul 6, 2023Updated 2 years ago
- The code of ICRA 2023☆61Sep 16, 2022Updated 3 years ago
- Stereo feature based loose coupled visual-inertial odometry (under developing)☆19Apr 9, 2017Updated 8 years ago
- This repo contains the code of the paper "Continuous-Time vs. Discrete-Time Vision-based SLAM: A Comparative Study", RA-L 2022.☆209Apr 12, 2022Updated 3 years ago
- [RA-L 2022] Ctrl-VIO: Continuous-Time Visual-Inertial Odometry for Rolling Shutter Cameras☆241Aug 23, 2023Updated 2 years ago
- ☆31Mar 14, 2020Updated 5 years ago
- Square Root Bundle Adjustment for Large-Scale Reconstruction☆314Jun 20, 2023Updated 2 years ago
- 采用Hamilton四元数的低成本IMU误差方程详细推导☆116Jun 21, 2020Updated 5 years ago
- Continuous preintegration☆131Dec 19, 2025Updated 2 months ago
- C++ Implementation of "An Equivariant Filter for Visual Inertial Odometry", ICRA 2021☆80Jul 28, 2022Updated 3 years ago
- monocular visual inertial system with point and line features☆599Dec 11, 2019Updated 6 years ago
- ILS-based SLAM-focused solver☆139Mar 7, 2021Updated 4 years ago
- Elasticity Meets Continuous-Time: Map-Centric Dense 3D SLAM☆55Jul 13, 2021Updated 4 years ago
- [TRO 2022] Observability-Aware Intrinsic and Extrinsic Calibration of LiDAR-IMU Systems☆321Jul 25, 2024Updated last year
- LiLi-OM is a tightly-coupled, keyframe-based LiDAR-inertial odometry and mapping system for both solid-state-LiDAR and conventional LiDAR…☆602Mar 18, 2023Updated 2 years ago
- Implementation of: 3D LiDAR Map Compression for Efficient Localization on Resource Constrained Vehicles☆84Jul 13, 2022Updated 3 years ago
- Square-Root Robocentric Visual-Inertial Odometry with Online Spatiotemporal Calibration☆289Sep 19, 2024Updated last year
- An efficient and consistent bundle adjustment for lidar mapping☆883Aug 19, 2024Updated last year
- ☆308Jan 27, 2026Updated last month
- Robocentric Visual-Inertial Odometry☆843Apr 23, 2023Updated 2 years ago
- Continuous-Time Spline Visual-Inertial Odometry☆98Jun 24, 2022Updated 3 years ago
- Sparse Gaussian Processes for SLAM☆154Aug 30, 2017Updated 8 years ago
- Lidar-Monocular Visual Odometry☆878Dec 28, 2025Updated 2 months ago