Pinned Repositories
ABC-EqF
Equivariant Filter implementation for attitude, gyroscope bias and calibration estimation. From "Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation with Online Calibration"
ahrs
Attitude and Heading Reference Systems in Python
ai-imu-dr
AI-IMU Dead-Reckoning
anki
Anki for desktop computers
astrobee
NASA Astrobee Robot Software
auto_eqf
General code for the Equivariant Filter (EqF) in Python3
awesome-gins-datasets
An awesome vehicle dataset for GNSS/INS integration applications
Awesome-invariant-and-equivariant-filter-and-observer
Paper list for invariant and equivariant filter and observer. Work-in-progress.
awesome-slam-datasets
A curated list of awesome datasets for SLAM
ba_demo_ceres
Bundle adjustment demo using Ceres Solver, with customized cost function and local parameterization on SE(3)
stefangachter's Repositories
stefangachter/astrobee
NASA Astrobee Robot Software
stefangachter/Awesome-invariant-and-equivariant-filter-and-observer
Paper list for invariant and equivariant filter and observer. Work-in-progress.
stefangachter/ba_demo_ceres
Bundle adjustment demo using Ceres Solver, with customized cost function and local parameterization on SE(3)
stefangachter/ceres-solver
A large scale non-linear optimization library
stefangachter/datacardsplaybook
The Data Cards Playbook helps dataset producers and publishers adopt a people-centered approach to transparency in dataset documentation.
stefangachter/DN-LiDAR
This repository contain example code to integrate point-to-point correspondences between LiDAR point clouds with raw inertial and GNSS readings using Dynamic Networks.
stefangachter/eqf_vio
C++ Implementation of "An Equivariant Filter for Visual Inertial Odometry", ICRA 2021
stefangachter/eqvio
EqVIO: An Equivariant Filter for Visual Inertial Odometry
stefangachter/geomstats
Computations and statistics on manifolds with geometric structures.
stefangachter/gmwm
Generalized Method of Wavelet Moments (GMWM) is an estimation technique for the parameters of time series models. It uses the wavelet variance in a moment matching approach that makes it particularly suitable for the estimation of certain state-space models.
stefangachter/gmwmx
The gmwmx R package implements the Generalized Method of Wavelet Moments with Exogenous Inputs estimator (GMWMX)
stefangachter/GraphGNSSLib
An Open-source Package for GNSS Positioning and Real-time Kinematic Using Factor Graph Optimization
stefangachter/gtsam-project-python
Project template using GTSAM + python wrapping
stefangachter/GVINS
Tightly coupled GNSS-Visual-Inertial system for locally smooth and globally consistent state estimation in complex environment.
stefangachter/HybVIO
HybVIO visual-inertial odometry and SLAM system
stefangachter/hyperopt
Distributed Asynchronous Hyperparameter Optimization in Python
stefangachter/LiePP
Header-only Lie groups for c++
stefangachter/manif
A small c++11 header-only library for Lie theory.
stefangachter/manopt
Manopt, a Matlab toolbox for optimization on manifolds
stefangachter/ODyN
A free Dynamic Network (DN) solver that runs online in the browser. ODyN fuses information from cameras, GNSS and inertial sensors in a single adjustment and it can be used to estimate a high-frequency trajectory for precise direct geo-referencing, to improve photogrammetric reconstructions in challenging scenarios or to determine several types of system calibration parameters.
stefangachter/slambook-en
The English version of 14 lectures on visual SLAM.
stefangachter/slambook2
edition 2 of the slambook
stefangachter/Sophus
C++ implementation of Lie Groups using Eigen.
stefangachter/srrg2_solver
ILS-based SLAM-focused solver
stefangachter/symforce
Fast symbolic computation, code generation, and nonlinear optimization for robotics
stefangachter/symforce-tutorials
Learn symforce together :)
stefangachter/synimu
This package implements a non-parametric method that makes use of the wavelet cross-covariance at different scales to combine the measurements coming from an array of sensors in order to deliver an optimal measurement signal without needing any assumption on the processes underlying the individual error signals.
stefangachter/ukfm
Unscented Kalman Filtering on (Parallelizable) Manifolds (UKF-M)
stefangachter/UMich-ROB-530-public
UMich 500-Level Mobile Robotics Course
stefangachter/wv
:alarm_clock: This R package provides the tools to perform standard and robust wavelet variance analysis for time series (signal processing). Among others, aside from computing the wavelet variance and cross-covariance (classic and robust), the package provides inference tools (e.g. confidence intervals) and plotting tools allowing to perform some visual analysis and assess the properties of the underlying time series.