A full-stack XR perception engine for the dimensionally challenged - MSCKF, Bundle Adjustment, Factor Graph, SLAM (in progres...)
Source code and dataset for TKDE 2019 paper “Trust Relationship Prediction in Alibaba E-Commerce Platform”
General purpose C++ library for managing discrete factor graphs
Experimental platform to achieve fused environment perception using different modalities of sensors
A novel architecture in which the Factor Graph Optimization (FGO) is hybrid with the Extended Kalman Filter (EKF) for tightly coupled GNSS/UWB integration with online Temporal calibration (FE-GUT).
Official repo for the paper "SAGE: SLAM with Appearance and Geometry Prior for Endoscopy" (ICRA 2022)
Factored inference for discrete-continuous smoothing and mapping.
Code release for "Evaluation of Precise Point Positioning Convergence with an Incremental Graph Optimizer".
Lightweighted graph optimization (Factor graph) library.
Robust GNSS Processing With Factor Graphs
A graph-based multi-sensor fusion framework. It can be used to fuse various relative or absolute measurments with IMU readings in real-time.
A collection of GTSAM factors and optimizers for point cloud SLAM
A general and flexible factor graph non-linear least square optimization framework
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