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adekf

Automatic Differentiated Extended Kalman Filter (ADEKF) - This is a generic EKF Implementation that uses automatic differentiation to get rid of the need to define Jacobians.

adekf_viz

Vizualization tools for the ADEKF

automaticobservabilityproofsforins

bavi-pose-tracking

Particle Filter and least squares based tracking of climbers with IMUs and route maps.

boxplus-imm

This repository contains the boxplus-IMM. A generic interacting multiple model filter which can handle manifold structures (e.g. quaternions) in the state space.

manifold-rts-smoother

A Manifold version of the Popular Rauch Tung Striebel Smoother. Uses the EKF Style Update formulas of the RTS-Smoother.

pdf-to-powerpoint

Python script to cut a PDF Presentation into Slides and fill a Powerpoint presentation with the images of those slides.

zavi_trackcycling

Contains a batch estimator that estimates the pose of a bike in a track race with an IMU as the only sensor. It uses the 3D map of the track and vehicle constraints. See the publication: State observability through prior Knowledge: Tracking Track Cyclers with Inertial Sensors