An implementation of the SE-Sync algorithm for synchronization over the special Euclidean group.

A script toolkit for SLAM research, including but not limited to various plotting functions, ROS bag processing, and more.

A kidnap-aware multi-threaded node to solve 6DOF posegraph slam. Needs poses at each node (subscribes to) and relative positions at edges. Maintains an optimized pose graph. Has support for recovery from kidnap

Custom simulator with my implementations of EKF-, UKF-, and Pose-Graph-SLAM

Developed and implemented 2D and 3D Pose Graph SLAM using the GTSAM library and Gauss Newton Solver on the Intel and Parking Garage g2o datasets respectively

Multi-robot sandbox for ROS 2

This is a comprehensive project focused on implementing popular algorithms for state estimation, robot localization, 2D mapping, and 2D & 3D SLAM. It utilizes various types of filters, including the Kalman Filter, Extended Kalman Filter, Unscented Kalman Filter, and Particle Filter.

A ROS2 Wrapper for MASt3R-SLAM

2D Pose Graph SLAM using ICP Registeration and G2O