🧭 Visualize quaternion data with the RViz Attitude Plugin for intuitive insights into robot orientation, enhancing debugging and sensor validation.

Estimate ocean wave height (or vessel heave), waves direction, and period from accelerations using IMU on esp32 using advanced Kalman filters

gnss/imu/wheel localizer for autoware

The Factor Graph Optimization module in the GREAT software specializes in RTK and tightly-coupled RTK/INS solutions.Multi-sensors-integration is planned for future updates.

A Robust Approach for LiDAR-Inertial Odometry Without Sensor-Specific Modelling

Various 6-dof and 9-dof orientation sensors test for the purpose of Tangible Interaction Design classes.

Library for using Inertial Labs® Kernel IMU by ESP32 via serial port

Drivers for various Inertial Measurement Units (IMUs)

GREAT-MSF 1.0: Advanced GNSS/INS fusion system supporting PPP/RTK, multi-GNSS, wheel odometry, motion constraints, custom IMU, fast initialization, and visualization. Future releases will integrate LiDAR, cameras, HD maps and UWB.

Arduino/ESP32 library to easily read data from IMU modules such as GY-91, MPU9250, MPU6050, BMP280 and others, via SPI or I²C

This device designed for testing drive by wire powered by an Teensy

A simple and easy-to-use multi-sensor synchronization solution

A fast and light G-INS-Odometry system.

This is the demo code for reading and posting sensor data to a webpage hosted on a ESP-32 wroom 32.

RViz2 plugin for visualizing quaternion-based orientation data with aviation-style attitude indicators and real-time Euler angle conversion

[IEEE T-RO 2025] iKalibr: Multi-Sensor Calibration (Extrinsics & Time Offsets)

Inertial navigation system for analyzing flight dynamics and aerodynamic behavior of flatball (aka frisbee) trajectories.

External orientation device manager and utilities geared toward aggregating different headtracking methods.

A lidar-based Teach-and-Repeat framework designed to enable outdoor autonomous navigation in harsh weather.

This repo contains my snippet and tutorials for Lie Group and Lie Algebra, Topology and Configuration of Robot and Space ,IMU, ROS2 Gazebo Integration, State Estimation, VIO, LIO, and Deep Learning based SLAM