Utilities for CEAR dataset: https://daroslab.github.io/cear/

Leg-KILO: Robust Kinematic-Inertial-Lidar Odometry for Dynamic Legged Robots

Code dump of of a state estimator estimator for a robot with a floating base. Previously used on the Mercury robot.

Awesome Quadrupedal Robots

C++ implementation of the ODrive CAN specification.

Source code for the paper DM-VIO: Delayed Marginalization Visual-Inertial Odometry