# cggos/imu_x_fusion

IMU + X(GNSS, 6DoF Odom) Loosely-Coupled Fusion Localization based on ESKF, IEKF, UKF(UKF/SPKF, JUKF, SVD-UKF) and MAP

Repository: https://github.com/cggos/imu_x_fusion
Canonical: https://ross.abutalabs.com/products/imu_x_fusion
Homepage: https://msf.cgabc.xyz/
Language: C++
License: GPL-3.0
License Family: copyleft
Topics: sensor-fusion, ekf-localization, visual-inertial-odometry, gnss, eskf, imu-sensor, slam, ukf-localization, nonlinear-least-squares
Last push: 2025-03-28T10:28:25+00:00

## Health v2 (maintenance only)
Score: 38/100 (v2, computed 2026-09-02T17:46:02.011165+00:00)
- activity 13, release rhythm 35, longevity 100
- inputs: {"age_days": 2230, "days_push": 523, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_releases
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1122, forks 190 (observed 2026-08-28T04:03:40.091784+00:00)

## What it is
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
- artifact type: library
- maturity: active
- function: simulation, machine-learning, robotics
- domain: robotics, autonomous-vehicles
- platform: cpp
- tags: sensor-fusion, imu, gnss, eskf, ukf, kalman-filter, state-estimation, ros, localization, slam, algorithms, linux

## Member repositories
- cggos/imu_x_fusion (main) score 38

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:03:40.091784+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T06:40:55.225282+00:00, confidence not recorded.
  - readme: https://github.com/cggos/imu_x_fusion (fetched 2026-08-28T04:03:40.091784+00:00, sha 0acab6a6e217)
  - homepage: https://msf.cgabc.xyz/ (fetched 2026-08-29T12:44:20.375263+00:00, sha c722245c130c)
- Data as of 2026-08-30T08:39:29.467469+00:00.