The Kalibr visual-inertial calibration toolbox

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain

🚁 轻量级无人机飞控-[Drone]-[STM32]-[PID]-[BLDC]

A ROS package tool to analyze the IMU performance.

GLIM: versatile and extensible point cloud-based 3D localization and mapping framework

Open-source GNSS + inertial navigation, sensor fusion simulator. Motion trajectory generator, sensor models, and navigation

Teensy/Arduino flight controller and stabilization for small-scale VTOL vehicles

[IEEE RA-L & ICRA'22] A lightweight and computationally-efficient frontend LiDAR odometry solution with consistent and accurate localization.

Server app for SlimeVR ecosystem

AI-IMU Dead-Reckoning

[IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.

Multi-Sensor Fusion (GNSS, IMU, Camera) 多源多传感器融合定位 GPS/INS组合导航 PPP/INS紧组合

A general framework for map-based visual localization. It contains 1) Map Generation which support traditional features or deeplearning features. 2) Hierarchical-Localizationvisual in visual(points or line) map. 3)Fusion framework with IMU, wheel odom and GPS sensors.

calibration for Imu and show gesture

Precise localization based on GNSS and IMU.

Attitude and Heading Reference Systems in Python

IMU Allan standard deviation charts for use with Kalibr and inertial kalman filters.

NaveGo: an open-source MATLAB/GNU Octave toolbox for processing integrated navigation systems and performing inertial sensors analysis.

ROS compatible tool to generate Allan Deviation plots

UrbanNav: an Open-Sourcing Localization Data Collected in Asian Urban Canyons, Including Tokyo and Hong Kong

Arduino and CMake library for communicating with the InvenSense MPU-6500, MPU-9250 and MPU-9255 nine-axis IMUs.

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

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

ROS wrapper for Kimera-VIO

Accurate 3D Localization for MAV Swarms by UWB and IMU Fusion. ICCA 2018

Android app which let you stream various phone's sensors to websocket clients

Convolutional Neural Networks for Denoising Gyroscopes of Low-Cost IMUs

[RA-L 2024] GRIL-Calib: Targetless Ground Robot IMU-LiDAR Extrinsic Calibration Method using Ground Plane Motion Constraints

RoNIN: Robust Neural Inertial Navigation in the Wild

MPU6050 full-featured driver library for general-purpose MCU and Linux.