- Sensor Fusion with GPS, IMU with tightly-coupled method. Algorithm is performed with GTSAM 4.x and IMU Pre-integration.
- Initial Release (v 1.0)
- Safety Rule IMU under 100Hz / KITTI, ComplexUrbanData Config Add (v 1.2)
- Main GPS-IMU Package for Sensor Fusion
- Remained for Future Works
- Remained for Future Works
- Ubuntu 18.04 / 20.04
- ROS Melodic (with Bionic Beaver)
- ROS Noetic (with Focal Fossa)
- Georgia-Tech Smoothing and Mapping
- Package Github : https://github.com/borglab/gtsam
cd catkin_ws/ git clone https://github.com/iismn/AGV-SENSOR-FUSION cd .. && catkin_make
- Xsense MTI-30 AHRS IMU / 300Hz
- Ublox M8P RTK-GPS / 10Hz
- IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation, Christian Forster, Luca Carlone, Frank Dellaert, and Davide Scaramuzza, RSS11 PDF