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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
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