PanKarfa's Projects
Estimation of direction of arrivals (DOA) using the MUSIC algorithm
Point cloud registration pipeline for robot localization and 3D perception
General purpose C++ library for managing discrete factor graphs
Nice Interactive application to handle undirected graphical models
https://automaticaddison.com/extended-kalman-filter-ekf-with-python-code-example/
Python package for the evaluation of odometry and SLAM
LiDAR Inertial SLAM
The tight integration of FAST-LIO with Radius-Search-based loop closure module.
A simple localization framework that can re-localize in built maps based on FAST-LIO.
LiDAR SLAM = FAST-LIO + Scan Context
An extended Kalman Filter implementation in C++ for fusing lidar and radar sensor measurements.
An extended Kalman Filter implementation in Python for fusing lidar and radar sensor measurements
An unscented Kalman Filter implementation for fusing lidar and radar sensor measurements.
g2o: A General Framework for Graph Optimization
Applying a gaussian kernel to filter noise time series.
Wireless Communication Library adopted to Gazebo/ROS simulators
Some Gazebo plugins to simulate UWB and magnetic sensors.
Source code of PyGAD, a Python 3 library for building the genetic algorithm and training machine learning algorithms (Keras & PyTorch).
Numerical modeling tools for Matlab and Objective-C
System76 Power Management Extension
gnss_imu_odom_ESKF
Specify what you want it to build, the AI asks for clarification, and then builds it.
Graph SLAM (16833 SLAM Project at CMU)
A graph-based multi-sensor fusion framework. It can be used to fuse various relative or absolute measurments with IMU readings in real-time.
pose graph visualization package for rviz
An Open-source Package for GNSS Positioning and Real-time Kinematic Using Factor Graph Optimization
GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices.
Estimates pose, velocity, and accelerometer / gyroscope biases by fusing GPS position and/or 6DOF pose with IMU data. The fusion is done using GTSAM's sparse nonlinear incremental optimization (ISAM2). The ROS (rospy) node is implemented using GTSAM's python3 inteface.