cggos/imu_x_fusion

Health v2 · maintenance only

Flags: no_releases

Adoption not part of the score

1122 stars · 190 forks observed · 2026-08-28

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded

A C++/ROS library implementing loosely-coupled IMU + X (GNSS, 6DoF odometry) fusion localization using ESKF, IEKF, UKF variants, and MAP estimation. It serves as an educational and research toolkit for multi-sensor state estimation with dataset playback and visualization support.

Use cases

• fuse IMU and GPS data for localization
• learn how ESKF and UKF sensor fusion works
• combine IMU with visual odometry for pose estimation
• implement multi-sensor fusion for a robot or autonomous vehicle
• study Kalman filter variants for state estimation
• replay ROS bags and evaluate fusion algorithms

When to choose

• you need loosely-coupled IMU+GNSS or IMU+odometry fusion in a ROS project
• you want reference implementations of ESKF, IEKF, UKF, or MAP-based fusion
• you are learning or teaching multi-sensor state estimation

When to avoid

• you need tightly-coupled fusion with raw LiDAR or camera measurements
• you need a production-grade, commercially supported localization stack
• you work outside ROS/Linux environments

Facets

library · maturity active

simulation machine-learning robotics robotics autonomous-vehicles cpp sensor-fusion imu gnss eskf ukf kalman-filter state-estimation ros localization slam algorithms linux

Member repositories

For agents

markdown · JSON · MCP: product_card(name="cggos/imu_x_fusion")