# Multi-Sensor-Fusion-Frameworks

**Repository Path**: xingwanyong/Multi-Sensor-Fusion-Frameworks

## Basic Information

- **Project Name**: Multi-Sensor-Fusion-Frameworks
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-05-18
- **Last Updated**: 2024-05-18

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Multi-Sensor-Fusion-Frameworks
开源的多传感器融合框架(GNSS, IMU, Camera, Lidar) 


#### TinyGrapeKit
轮速、视觉、GPS融合定位(https://zhuanlan.zhihu.com/p/330880853)


测试数据：KAIST Urban DataSet ([urban30](https://drive.google.com/drive/folders/1OizXFczlctIfFvfpw4R1klLDKJM-MznU?usp=sharing)  [urban22](https://drive.google.com/drive/folders/1iLfzg5Y66GN52komL22CISWVV6_T99O4?usp=sharing))

```
cd ~/TinyGrapeKit/app/FilterFusion/build
./RunKAISTData ~/TinyGrapeKit/app/FilterFusion/params/KAIST.yaml ~/kaist
```

![](results/TinyGrapeKit.png)

#### imu_gps_encoder_msckf

IMU、GPS融合定位
测试数据：KAIST Urban DataSet([urban32](https://drive.google.com/drive/folders/1LCPxO7YKiv1-Kc477g1GRhyikdmgJEzR))

```
roslaunch read_kaist_dataset kaist.launch
```
![](results/imu_gps_encoder_msckf.png)

#### imu_gps_localization

IMU、GPS融合定位
测试数据：https://drive.google.com/file/d/1S9M0gwNQ1rdXC7CPmH9ke0jbwOlopQpB/view?usp=sharing

```
roslaunch imu_gps_localization imu_gps_localization.launch
```
![](results/imu_gps_localization.png)