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.

Augmented Reality w/ Delphi Firemonkey. Sensor fusion object ( accelerometer+magnetometer+GPS). returns phone attitude (Azimuth/Elevation/Roll)

[CVPRW 2023, Best Paper Award] DeFlow: Self-supervised 3D Motion Estimation of Debris Flow

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.

Development kit for Pandora

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

GNSS neural estimators for correcting errors in GPS data using sensor fusion from accelerometer, gyroscope and magnetomenter.

nanobind bindings for gtsam

Documentation on the AutonomousRobotics course conducted in University West. The goal is to implement different SLAM algorithms using ROS and MatLab