ORB_SLAM3+YOLO+RGBD_DNECEMAP

This code is an extended version of YOLO_ORB_SLAM3, which adds the functionality of creating dense point cloud maps.

This is an improved version of ORB-SLAM3 that adds an object detection module implemented with YOLOv5 to achieve SLAM in dynamic environments.

Code of paper "Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration with Rotating Earth"

A method to calibrate the extrinsics of sensors(eg: ouster and realsense D455) using ICP

Implementation of ORB SLAM3 with changes in launch/config files which make it work with RealSense D455, Kinect Xbox 360 and normal mobile phone camera.

This is a driver providing data from VICON motion capture systems. It is based on the vicon_mocap package from the starmac stacks. Additionally, it can handle multiple subjects / segments and allow…

Implementation of Unscented Kalman Filter to estimate state of quadrotor using optical flow and IMU.

Computed Visual Odometry using corner extraction from April Tags and optical flow using ORB

Software repository for estimating human dynamics

A LiDAR-Inertial-Kinematic Odometry (LIKO) for biped robot state estimation

Invariant Kalman Filter in SE(2) and SE(3)

SEROW Framework for Humanoid Robot Walking Estimation

Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight

the Matlab code for reproducing the results of the paper "Exploiting Symmetries to Design EKFs with Consistency Properties"

Invariant EKF for SLAM

Matlab code used for the paper " Invariant Kalman Filtering for Visual Inertial SLAM"

Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight

AI-IMU Dead-Reckoning

Unscented Kalman Filtering on (Parallelizable) Manifolds (UKF-M)

Unified framework for robot learning built on NVIDIA Isaac Sim

EKF-SLAM using Lie Group

A LaTeX / XeLaTeX / LuaLaTeX PhD thesis template for Cambridge University Engineering Department (CUED)

This is an implementation sketch of the KinectFusion system described by Newcombe et al.

ROS wrapper for the invariant-ekf C++ library.

C++ library to implement invariant extended Kalman filtering for aided inertial navigation.