invariant-extended-kalman-filter

A small collection of Kalman Filters on Lie groups

Kalman filter using C++ and Manif

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.