Multi-Sensor-Fusion-Frameworks

开源的多传感器融合框架(GNSS, IMU, Camera, Lidar)

TinyGrapeKit

轮速、视觉、GPS融合定位(https://zhuanlan.zhihu.com/p/330880853)

测试数据：KAIST Urban DataSet (urban30 urban22)

cd ~/TinyGrapeKit/app/FilterFusion/build
./RunKAISTData ~/TinyGrapeKit/app/FilterFusion/params/KAIST.yaml ~/kaist

imu_gps_encoder_msckf

IMU、GPS融合定位 测试数据：KAIST Urban DataSet(urban32)

roslaunch read_kaist_dataset kaist.launch

imu_gps_localization

IMU、GPS融合定位 测试数据：https://drive.google.com/file/d/1S9M0gwNQ1rdXC7CPmH9ke0jbwOlopQpB/view?usp=sharing

roslaunch imu_gps_localization imu_gps_localization.launch