Header-only C++ library for robotics, control, and path planning algorithms. Work in progress, contributions are welcome!

Estimate AHRS attitude with EKF, ESKF and Mahony filter.

Filters: KF, EKF, UKF || Process Models: CV, CTRV || Measurement Models: Radar, Lidar

A compact realtime embedded Attitude and Heading Reference System (AHRS) using Recursive Least Squares (RLS) for magnetometer calibration and EKF/UKF for sensor fusion on Arduino platform

Extended Kalman Filter predicts the GNSS measurement based on IMU measurement

A compact Extended Kalman Filter (EKF) library for real time embedded system (with template for Teensy4/Arduino and STM32CubeIDE)

laser reflector and EKF

Self-position estimation by eskf by measuring gnss and imu

C++ Library for INS-GPS Extended-Kalman-Filter (Error State Version)

Kalman filter sanctuary - including continuous-discrete extended Kalman filter. Bring additional filters here for a bigger collection.

Classical robotics algorithms implemented in C++17.

Extended Kalman Filter (EKF) to fuse GPS coordinates, Altitude, Velocity(NED), Accelerometer X, Accelerometer Y, Accelerometer Z, Gyro X, Gyro Y, Gyro Z, Magnetometer X, Magnetometer Y and Magnetometer Z

Feature-based EKF-SLAM on Turtlebot3 with landmark detection

EKF filter to fuse GPS fix, GPS vel, IMU and Magnetic field

SIA - C++/Python library for model-based stochastic estimation and optimal control

Study and implementations of different attitude estimation algorithms for spacecrafts.

Master Thesis on processing point clouds from Velodyne VLP-16 LiDAR sensors with PCL in ROS to improve localization method, based on Extended Kalman Filter.

Implementation of multi-tracker Extended Kalman Filter, developed for the EU project CLASS (G.A. 780622)

attitude estimator with gyro bias correction

Kalman filters - linear and nonlinear (unscented, cubature, square root and hybride versions)