Lie theory for robotics
☆207Oct 18, 2024Updated last year
Alternatives and similar repositories for smooth
Users that are interested in smooth are comparing it to the libraries listed below. We may earn a commission when you buy through links labeled 'Ad' on this page.
Sorting:
- Control and estimation on Lie groups☆60Apr 5, 2024Updated last year
- A small collection of Kalman Filters on Lie groups☆384Apr 13, 2023Updated 2 years ago
- [ICRA 2023] Robust Incremental Smoothing and Mapping (riSAM) published in ICRA 2023☆151Aug 16, 2023Updated 2 years ago
- A C++ header-only Eigen-based Library for Lie group operations☆298Jan 12, 2025Updated last year
- Header-only C++ library containing controllers designed for Lie Groups.☆75Oct 13, 2025Updated 5 months ago
- NordVPN Threat Protection Pro™ • AdTake your cybersecurity to the next level. Block phishing, malware, trackers, and ads. Lightweight app that works with all browsers.
- Kalman filter using C++ and Manif☆29Aug 16, 2024Updated last year
- Continuous preintegration☆132Dec 19, 2025Updated 3 months ago
- Rotation only PGO + translation only PGO + 6DOF PGO by ceres☆23Jul 14, 2025Updated 8 months ago
- A small C++11 header-only library for Lie theory.☆1,741Nov 1, 2025Updated 4 months ago
- Visual Inertial Odometry (VIO) / Simultaneous Localization & Mapping (SLAM) using iSAM2 framework from the GTSAM library.☆153Sep 3, 2020Updated 5 years ago
- Rigid transform using Lie groups and Dual Quaternions, written in CasADi!☆88Jul 15, 2025Updated 8 months ago
- Minimal project using Pinocchio as Rigid Body Dynamics library☆28Mar 18, 2026Updated last week
- A Multi State Constraint Equivariant Filter for Vision-aided Inertial Navigation☆133Feb 19, 2025Updated last year
- [ARCHIVED] Development continues at https://github.com/Simple-Robotics/aligator. [Old description] A primal-dual augmented Lagrangian sol…☆68Sep 26, 2025Updated 6 months ago
- Managed Database hosting by DigitalOcean • AdPostgreSQL, MySQL, MongoDB, Kafka, Valkey, and OpenSearch available. Automatically scale up storage and focus on building your apps.
- Code of paper "Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration with Rotating Earth"☆95Aug 7, 2020Updated 5 years ago
- C++ Implementation of "An Equivariant Filter for Visual Inertial Odometry", ICRA 2021☆81Jul 28, 2022Updated 3 years ago
- [TIM'2024] Official codes of AM-Align: Globally Optimal Estimation of Accelerometer-Magnetometer Misalignment☆32Feb 23, 2025Updated last year
- A state estimation package for Lie groups!☆187Nov 25, 2025Updated 4 months ago
- Generalized Splines for Motion Optimization in C++ and python3☆94Aug 25, 2025Updated 7 months ago
- ☆16Nov 9, 2023Updated 2 years ago
- Automatic Differentiated Extended Kalman Filter (ADEKF) - This is a generic EKF Implementation that uses automatic differentiation to get…☆125Jan 12, 2026Updated 2 months ago
- [IROS'22] Official code repo for "A LiDAR-inertial Odometry with Principled Uncertainty Modeling"☆84Jan 5, 2023Updated 3 years ago
- Invariant EKF, Lidar-Inertial Odometry☆36Oct 20, 2023Updated 2 years ago
- NordVPN Threat Protection Pro™ • AdTake your cybersecurity to the next level. Block phishing, malware, trackers, and ads. Lightweight app that works with all browsers.
- Code for RA-L paper "RMS: Redundancy-Minimizing Point Cloud Sampling for Real-Time Pose Estimation"☆142Feb 20, 2025Updated last year
- A general and flexible factor graph non-linear least square optimization framework☆510Jan 14, 2022Updated 4 years ago
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆170May 17, 2025Updated 10 months ago
- C++ library to implement invariant extended Kalman filtering for aided inertial navigation.☆537Aug 17, 2019Updated 6 years ago
- A cross-platform real-time 3D renderer for robotics powered by SDL3-gpu☆38Mar 1, 2026Updated 3 weeks ago
- Some examples to show how to use Quatro implemented in TEASER++ library☆42Jan 5, 2024Updated 2 years ago
- Clarabel.cpp: C/C++ interface to the Clarabel Interior-point solver for convex conic optimisation problems.☆62Jun 11, 2025Updated 9 months ago
- Library for creating smooth cubic splines☆185Updated this week
- Dynamic Kd-Tree: Euclidean, SO(2), SO(3), SE(3) and more!☆35Mar 16, 2026Updated last week
- GPU virtual machines on DigitalOcean Gradient AI • AdGet to production fast with high-performance AMD and NVIDIA GPUs you can spin up in seconds. The definition of operational simplicity.
- OR-LIM: Observability-aware robust LiDAR-Inertial-Mapping under High Dynamic Sensor Motion☆69Jan 16, 2026Updated 2 months ago
- Efficient Graduated Non-Convexity for Pose Graph Optimization☆78Oct 20, 2023Updated 2 years ago
- Implementation-focused introduction to Lie groups for roboticists☆26Aug 7, 2018Updated 7 years ago
- [ICRA'24] "A Two-step Nonlinear Factor Sparsification for Scalable Long-term SLAM Backend"☆71May 6, 2024Updated last year
- Tightly coupled lidar-visual-inertial slam using the fuse framework☆90May 14, 2025Updated 10 months ago
- [RA-L 2022] Ctrl-VIO: Continuous-Time Visual-Inertial Odometry for Rolling Shutter Cameras☆241Aug 23, 2023Updated 2 years ago
- Pyramid Semantic Graph-based Global Point Cloud Registration with Low Overlap (IROS 2023)☆140Jan 2, 2024Updated 2 years ago