# PaulKemppi/gtsam\_fusion

<https://repo.masters-masters.com/en/repos/PaulKemppi/gtsam_fusion>

[Home](https://repo.masters-masters.com/en) › [PaulKemppi](https://repo.masters-masters.com/en/owners/PaulKemppi) › [gtsam\_fusion](https://repo.masters-masters.com/en/repos/PaulKemppi/gtsam_fusion)

PaulKemppi/gtsam\_fusion has 109 stars on GitHub. Its RepoMasters card: Prototype tier. Estimates pose, velocity, and accelerometer / gyroscope biases by…

| Field | Value |
| --- | --- |
| Owner | [PaulKemppi](https://repo.masters-masters.com/en/owners/PaulKemppi) |
| Stars | 109 |
| Forks | 18 |
| Language | [Python](https://repo.masters-masters.com/en/languages/python) |
| License | BSD-3-Clause |
| Created | 2020 |
| Tier | [Prototype (100 to 249 ★)](https://repo.masters-masters.com/en/ranks/rush) |
| View on GitHub | [PaulKemppi/gtsam\_fusion](https://github.com/PaulKemppi/gtsam_fusion) |

## Repository

Estimates pose, velocity, and accelerometer / gyroscope biases by fusing GPS position and/or 6DOF pose with IMU data. The fusion is done using GTSAM's sparse nonlinear incremental optimization (ISAM2). The ROS (rospy) node is implemented using GTSAM's python3 inteface.

The tier for repos with 100 to 249 ★. Published odds per card pulled: 70%. Rarity: Common.

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Data: GitHub · Illustration drawn by RepoMasters from the repo’s ID and its language color.