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IMU + X(GNSS, 6DoF Odom) Loosely-Coupled Fusion Localization based on ESKF, IEKF, UKF(UKF/SPKF, JUKF, SVD-UKF) and MAP
| Date | Stars |
|---|---|
| 2026-07-30 | 1117 |
| 2026-08-09 | 1117 |
| 2026-08-17 | 1119 |
| 2026-08-25 | 1121 |
| 2026-08-26 | 1122 |
| 2026-08-27 | 1124 |
| 2026-08-30 | 1125 |
| 2026-09-03 | 1126 |
| 2026-09-08 | 1125 |
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| 2026-09-28 | 1125 |
| 2026-10-08 | 1126 |
| 2026-10-12 | 1125 |
| 2026-10-17 | 1126 |
| 2026-10-24 | 1127 |
| 2026-11-04 | 1127 |
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# IMU + X Fusion
IMU + X Loosely-Coupled Fusion Localization
---
## Overview
* IMU + GPS
- [x] ESKF: [Multi-Sensor Fusion: IMU and GPS loose fusion based on ESKF](https://cgabc.xyz/posts/4e9a780e/)
* IMU + 6DoF Odom (e.g.: Stereo Visual Odometry)
- [x] ESKF: [IMU and 6 DoF Odometry (Stereo Visual Odometry) Loosely-Coupled Fusion Localization based on ESKF (Presentation)](http://dx.doi.org/10.13140/RG.2.2.28797.69602)
- [x] IEKF: https://cgabc.xyz/posts/784a80cb/#iekf
- [x] UKF(including JUKF and SVD-UKF): [IMU and 6 DoF Odometry (Stereo Visual Odometry) Loosely-Coupled Fusion Localization based on UKF](http://dx.doi.org/10.13140/RG.2.2.30602.54727)
- [x] MAP(User-defined L-M, Ceres-Solver, G2O and GTSAM)
## Features
* Dataset
- [x] KAIST dataset: ROS publish
* Sensors
- [x] IMU
- [x] Numerical Integration (TODO: RK4)
- [ ] Pre-Integration
- [ ] Wheel Odometer
- [ ] Manometer
- [x] GPS
- [x] 6DoF Odom (Stereo Visual Odometry)
- [ ] LiDAR
- [ ] Multi-modal data
* State Estimation
- [x] EKF
- [x] ESKF
- [x] IEKF
- [x] UKF
- [x] JUKF
- [x] SVD-UKF
- [ ] Particle Filter
- [x] MAP
- [x] User-defined G-N
- [x] Ceres-Solver
- [x] G2O
- [x] GTSAM
* Local / Global Angular Error (Rotation Perturbation)
- [x] Local Angular Error (OK)
- [x] Global Angular Error (TODO: why Poor)
```cpp
enum ANGULAR_ERROR { LOCAL_ANGULAR_ERROR, GLOBAL_ANGULAR_ERROR };
```
* Debug
- [x] Check Measurement Jacobian Matrix
## Requirements
tested on Ubuntu 16.04, Ubuntu 18.04 and Ubuntu 20.04
* Ubuntu 16.04 & ROS Kinetic
* OpenCV 3
* ROS package: nmea_navsat_driver
* GeographicLib 1.50.1 (built from souce code, cmake 3.18.0 tested)
* Ubuntu 18.04 & ROS Melodic
* OpenCV 3
* ROS package: nmea_navsat_driver
* GeographicLib 1.49
```sh
sudo apt install libgeographic-dev
```
* Ubuntu 20.04 & ROS Melodic
* OpenCV 3
* ROS package: nmea_navsat_driver
* GeographicLib 1.50.1
```sh
sudo apt install libgeographic-dev
```
## Build
```sh
mkdir -p ws_msf/src
cd ws_msf/src
git clone xxx
cd ..
catkin_make -j4 # error happened when using the default cmake 3.5.1 on Ubuntu 16.04, upgrade it
# or
catkin build -j4
```
## Run on Host
### IMU + GNSS
test data: [utbm_robocar_dataset_20180719_noimage.bag](https://lcas.lincoln.ac.uk/owncloud/index.php/s/KfItDFgwwis5Xrk)
* [sensor_msgs/Imu] /imu/data: 100 hz
* [nmea_msgs/Sentence] /nmea_sentence: 15 hz
* [sensor_msgs/NavSatFix] /fix: 5 hz
* [nav_msgs/Path] /nav_path: 63 hz
```sh
roslaunch imu_x_fusion imu_gnss_fusion.launch
rosbag play -s 25 utbm_robocar_dataset_20180719_noimage.bag
```
ROS graph and path on rviz:
<p align="center">
<img src="imgs/rosgraph_imu_gnss.jpg"/>
<img src="imgs/run_imu_gnss_fusion.jpg"/>
</p>
plot the result path (fusion_gps.csv & fusion_state.csv) on Google Map using the scripts `folium_csv.py`:
<p align="center">
<img src="imgs/google_map.jpg"/>
</p>
### IMU + 6DoF Odom
#### VO: ORB-SLAM2 (Stereo) + EuRoC V1_01_easy.bag
```sh
roslaunch imu_x_fusion imu_vo_fusion.launch [est:=ekf, ukf or map]
```
##### run ORB-SLAM2 (Stereo) and play back bag file
```sh
# https://github.com/cggos/orbslam2_cg
# pose cov:
# sigma_pv: 0.001
# sigma_rp: 0.5
# sigma_yaw: 0.5
roslaunch orbslam2_ros run_stereo_euroc.launch
rosbag play V1_01_easy.bag
```
<p align="center">
<img src="imgs/rosgraph_imu_vo.png"/>
</p>
results(Green path: estimated pose; Red path: pose of VO):
<p align="center">
<img src="imgs/run_imu_vo_fusion.png"/>
</p>
##### Use the recorded bag file directly
Download [orbslam2_v101easy.bag](http://gofile.me/5lGth/4XBQVLhAn)
```sh
rosbag play orbslam2_v101easy.bag
```
#### VO: ORB-SLAM2 (Stereo) + MYNTEYE-S1030 Camera
```sh
# TODO: Test
roslaunch imu_x_fusion imu_vo_fusion_mynteye.launch
roslaunch mynt_eye_ros_wrapper mynteye.launch
```
### Run with KAIST Dataset
```sh
rosrun imu_x_fusion kaist_pub /dev_sdb/datasets/KAIST/urban39-pExcerpt of 4,579 characters
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