cra-ros-pkg/robot_localization

The fuse stack provides a general architecture for performing sensor fusion live on a robot. Some possible applications include state estimation, localization, mapping, and calibration.

A Modular Optimization framework for Localization and mApping (MOLA)

An optimization-based multi-sensor state estimator

GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices.

Precise localization based on GNSS and IMU.

RTAB-Map library and standalone application

Robust Pose Graph Optimization

An efficient and robust multisensor-aided inertial navigation system with online calibration that is capable of fusing IMU, camera, LiDAR, GPS/GNSS, and wheel sensors. Use cases: VINS/VIO, GPS-INS, LINS/LIO, multi-sensor fusion for localization and mapping (SLAM). This repository also provides multi-sensor simulation and data.

A computationally efficient and robust LiDAR-inertial odometry (LIO) package