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A bunch of state estimation algorithms
| Date | Stars |
|---|---|
| 2026-07-24 | 301 |
| 2026-07-25 | 301 |
| 2026-07-28 | 301 |
| 2026-07-30 | 301 |
| 2026-08-06 | 301 |
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# TinyGrapeKit
## A bunch of state estimation algorithms.
This repo is divided into two parts, one is the basic algorithm, in the **library** folder. The other is the actual multi-sensor fusion algorithm (e.g. SLAM), in the **app** folder.
Detailed derivations can be found in: https://www.zhihu.com/column/slamTech
# Install
## Prerequisites
opencv, ceres, Eigen
## Build
```
chmod +x build.sh
./build.sh
```
# Applications in the **app** folder
## FilterFusion : Filter-Based Sensor Fusion.
Fuse wheel, visual, and GNSS in an Extended Kalman Filter.
For visual-wheel fusion, please refer to: https://zhuanlan.zhihu.com/p/270670373
For fusing of GNSS data, please refer to: https://zhuanlan.zhihu.com/p/330880853
You can select the sensors to participate in the fusion through the configuration file.
```
sys_config.enable_plane_update: 1
sys_config.enable_gps_update: 1
```
### Dataset
We used the KAIST dataset to test our method. https://irap.kaist.ac.kr/dataset/
### Example
For examples, please refer to the **Example** folder.
```
./RunKAISTData ${REPO_PATH}/TinyGrapeKit/app/FilterFusion/params/KAIST.yaml ${KAIST_PATH}
```
# Contact us
For any issues, please feel free to contact **[Dongsheng Yang](https://github.com/ydsf16)**: <[email protected]>, <[email protected]>
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Read on GitHubWould you bet a product on this? Bounded 0–100 and slow moving.
matched fp:89dccd2a354c0a3a, topic:slam, readme:slam