A small C++11 header-only library for Lie theory.
A small collection of Kalman Filters on Lie groups
Lie theory for robotics
Control and estimation on Lie groups
Custom navigation stack for Turtlebot3. Includes Fast SLAM, EKF SLAM, several path planners, and a model predictive path integral controller.
[CVPR 2024] Confronting Ambiguity in 6D Object Pose Estimation via Score-Based Diffusion on SE(3)
Kalman filter using C++ and Manif
Turtlebot3 with EKF SLAM and Inverse Kinematics from Scratch
Implementation of feature-based EKF SLAM with unsupervised learning in C++ from scratch
An exercise of Base Lie theory in "State Estimation for Robotics"
ROS package to convert position to velocity
Lightweight C++ header-only template library for translation, rotation and homogeneous transformation. Requires C++17 or Later. No dependencies with other libraries and stl.
Navigation algorithms implemented on ROS2 Turtlesim
A c++ library with the purpose to calculate the decomposition of the Yukawa interactions invariants on SO(2N) groups in terms of the SU(N) subgroup.
Examples of solving non-linear optimisation problems using ceres and lietorch [subset of assignments from Mobile Robotics, IIIT-H Monsoon'24]
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