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1. Visual-Inerital-EKF-SLAM Visual-Inerital-EKF-SLAM Public

   An implementation of visual-inertial EKF SLAM, more specific, the known correspondence EKF SLAM.

   C++ 51 11

2. SlideWindowOptimizationBased2DSLAM SlideWindowOptimizationBased2DSLAM Public

   A Slide Window Optimization Based 2D SLAM referred to VINS-FUSION implementation.

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3. GN-LM-DogLeg-Solver GN-LM-DogLeg-Solver Public

   Personal implementation of Gauss-Newton, Lenvenberg-Marquardt and Dog-Leg algorithm.

   C++ 28 9

4. 2DLandMarkSLAMSimEnv 2DLandMarkSLAMSimEnv Public

   A simple 2D LandMark based SLAM ROS simulation environment.

   C++ 19 4

5. gazebo_aruco_models gazebo_aruco_models Public

   gazebo aruco models

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6. NonLinearLeastSquaresSolver NonLinearLeastSquaresSolver Public

   This is a exercise implementation of non-linear least squares solver . It now contains Gauss-Newton and robust cost function implementation . The robust cost function uses Cauchy Loss function.

   C++ 5 1