{"id":17325661,"url":"https://github.com/artivis/kalmanif","last_synced_at":"2025-04-07T05:11:29.349Z","repository":{"id":47800614,"uuid":"336914859","full_name":"artivis/kalmanif","owner":"artivis","description":"A small collection of Kalman Filters on Lie groups","archived":false,"fork":false,"pushed_at":"2023-04-13T06:29:01.000Z","size":494,"stargazers_count":363,"open_issues_count":5,"forks_count":43,"subscribers_count":16,"default_branch":"devel","last_synced_at":"2025-03-30T21:14:27.607Z","etag":null,"topics":["cpp17","extended-kalman-filters","filtering","header-only","invariant-extended-kalman-filter","kalman-filter","kalman-smoother","lie-algebra","lie-groups","manif","rauch-tung-striebel","robotics","state-estimation","unscented-kalman-filter"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/artivis.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":"CONTRIBUTING.md","funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2021-02-07T23:43:43.000Z","updated_at":"2025-03-29T05:44:42.000Z","dependencies_parsed_at":"2024-10-31T04:12:57.159Z","dependency_job_id":null,"html_url":"https://github.com/artivis/kalmanif","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/artivis%2Fkalmanif","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/artivis%2Fkalmanif/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/artivis%2Fkalmanif/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/artivis%2Fkalmanif/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/artivis","download_url":"https://codeload.github.com/artivis/kalmanif/tar.gz/refs/heads/devel","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":247595335,"owners_count":20963943,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["cpp17","extended-kalman-filters","filtering","header-only","invariant-extended-kalman-filter","kalman-filter","kalman-smoother","lie-algebra","lie-groups","manif","rauch-tung-striebel","robotics","state-estimation","unscented-kalman-filter"],"created_at":"2024-10-15T14:14:00.032Z","updated_at":"2025-04-07T05:11:29.329Z","avatar_url":"https://github.com/artivis.png","language":"C++","funding_links":[],"categories":["Code"],"sub_categories":["C++"],"readme":"# kalmanif\n\n## A small collection of Kalman Filters on Lie groups\n\n[![GHA][badge-ci-img]][badge-ci]\n\u003c!-- [![codecov][badge-cov-img]][badge-cov] --\u003e\n![GitHub][badge-license]\n\u003c!-- [![Documentation][badge-doc-img]][kalmanif-doc] --\u003e\n\n## Package Summary\n\n`kalmanif` is a Kalman filter(s) on Lie groups library for state-estimation\ntargeted at robotics applications.\nIt is developed as a header-only C++17 library based on [manif][manif-repo].\n\nAt the moment, it implements:\n\n- Extended Kalman Filter (EKF)\n- Square Root Extended Kalman Filter (SEKF)\n- Invariant Extended Kalman Filter (IEKF)\n- Unscented Kalman Filter on manifolds (UKFM)\n- Rauch-Tung-Striebel Smoother*\n\n(*the RTS Smoother is compatible with all filters - ERTS / SERTS / IERTS/ URTS-M)\n\nTogether with a few system and measurement models mostly for demo purpose.\nOther filters/models can and will be added, contributions are welcome.\n\n`kalmanif` started has a rework of the excellent [kalman][kalman-repo] library by [Markus Herb][mherb] to turn [the filtering-based examples in manif][manif-examples] into reusable code.\nThe main difference from the [kalman][kalman-repo] library is its integration with the [manif][manif-repo] library to handle the Lie theory aspects.\nThere are also numerous implementation details that differ and which can't be summarized here.\n\n`kalmanif` is distributed under the same permissive license as it's inspirational model.\n\n\u003e :heavy_exclamation_mark: kalmanif is very much a work in progress. As such, do not expect it to work out of the box, nor support your application. Do expect its API to change. Headache possible. :heavy_exclamation_mark:\n\n### Details\n\n- Maintainer status: maintained\n- Maintainer: Jeremie Deray\n- Authors: Jeremie Deray\n- License: [MIT](LICENSE)\n- Bug / feature tracker: [github.com/artivis/kalmanif/issues][kalmanif-issue]\n- Source: [github.com/artivis/kalmanif.git][kalmanif-repo] (branch: devel)\n\n## Quick Start\n\nCheckout the installation guide [over here](CONTRIBUTING.md#development-environment).\n\n### Note\n\nBoth the `IEKF` and `UKFM` filters are implemented in their **'right invariant'** flavor.\nHowever they are able to handle both 'right' *and* 'left' measurements.\n\n\u003c!-- ## Documentation --\u003e\n\n## Tutorials and application demos\n\nWe provide some self-contained and self-explained executables implementing some real problems.\nTheir source code is located in `kalmanif/examples/`.\nThese demos are:\n\n- [`demo_se2.cpp`](examples/demo_se2.cpp): 2D robot localization based on fixed landmarks using SE2 as robot poses.\nThis implements the example V.A in [SOLA-18-Lie][jsola18].\n- [`demo_se3.cpp`](examples/demo_se3.cpp): 3D robot localization based on fixed landmarks using SE3 as robot poses.\nThis re-implements the example above but in 3D.\n- [`demo_se_2_3.cpp`](examples/demo_se_2_3.cpp): 3D robot localization and linear velocity estimation based on strap-down IMU model and fixed beacons.\n\nCheck out the documentation to see how to [build them][demo-build] and what are [their options][demo-run].\n\n## References\n\n`kalmanif` is based on several publications, some of which are referenced [here](docs/publications.md).\n\n## Contributing\n\nWant to contribute? Great! Check out our [contribution guidelines](CONTRIBUTING.md).\n\n[//]: # (URLs)\n\n[kalman-repo]: https://github.com/mherb/kalman\n[mherb]: https://github.com/mherb\n\n[jsola18]: http://arxiv.org/abs/1812.01537\n[barrau15]: https://arxiv.org/pdf/1410.1465.pdf\n[deray20]: https://joss.theoj.org/papers/10.21105/joss.01371\n[brossard20]: https://arxiv.org/pdf/2002.00878.pdf\n[Barrau17]: https://arxiv.org/pdf/1410.1465.pdf\n\n[eigen]: http://eigen.tuxfamily.org\n[ceres]: http://ceres-solver.org/\n[ceres-jet]: http://ceres-solver.org/automatic_derivatives.html#dual-numbers-jets\n[crtp]: https://en.wikipedia.org/wiki/Curiously_recurring_template_pattern\n\n[kalmanif-repo]: https://github.com/artivis/kalmanif.git\n[kalmanif-issue]: https://github.com/artivis/kalmanif/issues\n[kalmanif-doc]: https://codedocs.xyz/artivis/kalmanif\n[demo-build]: CONTRIBUTING.md#development-environment\n[demo-run]: docs/demo.md\n\n[manif-repo]: https://github.com/artivis/manif\n[manif-examples]: https://github.com/artivis/manif/tree/devel/examples\n\n[pybind11]: https://pybind11.readthedocs.io/en/stable/index.html\n\n[git-workflow]: http://nvie.com/posts/a-successful-git-branching-model/\n\n[badge-ci]: https://github.com/artivis/kalmanif/workflows/build-and-test/badge.svg?branch=devel\n[badge-ci-img]: https://github.com/artivis/kalmanif/workflows/build-and-test/badge.svg?branch=devel\n[badge-ci-win]: https://ci.appveyor.com/project/artivis/kalmanif\n[badge-ci-win-img]: https://ci.appveyor.com/api/projects/status/l0q7b0shhonvejrd?svg=true\n[badge-doc-img]: https://codedocs.xyz/artivis/kalmanif.svg\n[badge-cov]: https://codecov.io/gh/artivis/kalmanif\n[badge-cov-img]: https://codecov.io/gh/artivis/kalmanif/branch/devel/graph/badge.svg\n[badge-license]: https://img.shields.io/github/license/mashape/apistatus.svg\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fartivis%2Fkalmanif","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fartivis%2Fkalmanif","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fartivis%2Fkalmanif/lists"}