My little cutie Extended Kalman Filter framework based on C++. Implemented with template approach for modularity. Supports multiple EKF cores.

A robust, standalone 6-Axis (Gyroscope + Accelerometer) Attitude and Heading Reference System (AHRS). Provides two algorithms: Madgwick gradient descent fusion and Extended Kalman Filter (EKF). Includes adaptive features: impact detection with fast recovery, linear motion compensation, and automatic gyroscope bias correction.

C++ Library for INS-GPS Extended-Kalman-Filter (Error State Version)

Dynamic Multilateration (TDoA) simulation of a drone swarm, without ground anchors.

Extended Kalman Filter for UAV

Autonomous robotic rover designed for navigation and task execution, inspired by smart vacuum cleaners.

C++ Core and ROS 2 Node for Full-State (Navigation) Filter.

This repository is part of Udacity's Sensor Fusion Nanodegree, where the goal is to track an object using a combination of Lidar and camera data. By fusing different sensor modalities, the system improves detection reliability and precision using KF, EKF, and UKF techniques.

Terrain estimation and mapping using grid_map and single state EKF using ROS2

C++ header-only library for synchronizing out-of-order, delayed, and asynchronous measurements in sensor fusion pipelines (e.g., Kalman or Particle Filters).

EKF filter to fuse GPS fix, GPS vel, IMU and Magnetic field

IMU Pose Estimation Library

Kalman Filtering library (EKF, UKF, CKF, square root and hybrids realisations) based on Armadillo.

EKF-based Multi Object Tracking

Header-only C++ library for robotics, control, and path planning algorithms. Work in progress, contributions are welcome!

SIA - C++/Python library for model-based stochastic estimation and optimal control

Implementing EKF SLAM from scratch

A collection of embedded PID (Proportional – Integral – Derivative) controller tuning methods.

Estimate AHRS attitude with EKF, ESKF and Mahony filter.

attitude estimator with gyro bias correction