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aslam_incremental_calibration

Incremental self calibration.

dcm-imu

The DCM-IMU algorithm is designed for fusing low-cost triaxial MEMS gyroscope and accelerometer measurements. An extended Kalman filter is used to estimate attitude in direction cosine matrix (DCM) formation and gyroscope biases online. A variable measurement covariance method is implemented for acceleration measurements to ensure robustness against temporarily non-gravitational accelerations which usually induce errors to attitude estimate in ordinary IMU-algorithms. The code and data will be added after related scientific work is published and open source publication is approved.

dso

Direct Sparse Odometry

duo_vio

Duo-VIO: Fast, Light-weight, Stereo Inertial Odometry

dvo

Dense Visual Odometry

dvo_slam

Dense Visual Odometry and SLAM

elasticfusion

Real-time dense visual SLAM system

ethzasl_msf

MSF - Modular framework for multi sensor fusion based on an Extended Kalman Filter (EKF)

ethzasl_ptam

Modified version of Parallel Tracking and Mapping (PTAM)

msckf

MSCKF 中文注释版

msckf-1

msckf-swf-comparison

MATLAB code and data for our CRV 2015 paper

nbvplanner

A real-time capable exploration and inspection path planner

rotors_simulator

RotorS is a UAV gazebo simulator

rovio

rpg_svo

Semi-direct Visual Odometry

tonav

Implementation of Multi-State Constraint Kalman Filter (MSCKF) for Vision-aided Inertial Navigation. This is my master's thesis.