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.
[CVPR2024] SchurVINS: Schur Complement-Based Lightweight Visual Inertial Navigation System
Automatic Calibration for Non-repetitive Scanning Solid-State LiDAR and Camera Systems
A robust sensor fusion library for online localization.
SFUISE is a novel continuous-time UWB-inertial state estimation framework based on sliding-window spline fusion.
CenterFusion++ is a frustum propsal-based camera and radar sensor fusion network.
[CVPRW 2023, Best Paper Award] DeFlow: Self-supervised 3D Motion Estimation of Debris Flow
Augmented Reality w/ Delphi Firemonkey. Sensor fusion object ( accelerometer+magnetometer+GPS). returns phone attitude (Azimuth/Elevation/Roll)
Official repository of SFUISE, a novel continuous-time UWB-inertial state estimation framework based on sliding-window spline fusion.
ROS driver for Pandora with point cloud and camera image projected.
General navigation software library for sensor fusion.
3D Terrain mapping system to generate a 3D map of the forest floor
ROS package for the bn0055 absolute orientation sensor with a Raspberry Pi. Uses the sensor in serial (uart) mode instead of I2C due to Pi's inability to use clock-stretching in I2C as device requires. Includes imu publisher and a setup utility node
Small MATLAB repo to test out different AHRS algorithms on the MPU-9250 + Arduino.
This sample app uses phone sensors to position a 3D sailboat dynamically.
Robotics for Autonomous Vehicles by University of Toronto
Autonomous UAV navigation system featuring real-time 2.5D occupancy-grid mapping, A* global path planning, and depth + LiDAR sensor fusion for dynamic obstacle avoidance in complex urban environments. Fully integrated with ROS 2, PX4 Offboard control, and Gazebo simulation for high-fidelity testing and deployment.
GNSS neural estimators for correcting errors in GPS data using sensor fusion from accelerometer, gyroscope and magnetomenter.
nanobind bindings for gtsam
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