Using error-state Kalman filter to fuse the IMU and GPS data for localization.
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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.
Precise localization based on GNSS and IMU.
An optimization-based multi-sensor state estimator
Open Source Inertial Navigation Library
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.
ROS tools for IMU devices
robot_localization is a package of nonlinear state estimation nodes. The package was developed by Charles River Analytics, Inc. Please ask questions on answers.ros.org.
An open source platform for visual-inertial navigation research.
