Download
The libRSF is an open source C++ library that provides several components that are required to estimate the state of a (robotic) system based on probabilistic methods. By applying the factor graph concept, well known from Graph SLAM, libRSF provides a robust solution for many sensor fusion problems. The general idea of factor graphs is to describe the state estimation problem as a graph of nodes (the state variables) that are connected by factors (measurements). The resulting graph optimization problem can be solved by applying non-linear least squares optimization.
Features
- A sliding window filter for online applications, including marginalization
- Documentation available
- A set of predefined cost functions for various localization problems
- Examples available
- Several robust error models for non-Gaussian problems, including self-tuning Gaussian mixtures
- This work is released under the GNU General Public License
Project Samples
License
GNU General Public License version 3.0 (GPLv3)Follow libRSF
Other Useful Business Software
Build Agents and Models on One Platform
Gemini Enterprise Agent Platform is Google Cloud's comprehensive platform for developers to build, scale, govern, and optimize agents and models. Choose from Google's most advanced models and third-party models like Anthropic's Claude Model Family.
Rate This Project
Login To Rate This Project
User Reviews
Be the first to post a review of libRSF!