Jin Wu

LibQPEP. TRO 2022 - QPEP: A C++/MATLAB library for solving generalized quadratic pose estimation problems and related uncertainty description

VINS-Mono-QPEP. QPEP (Quadratic Pose Estimation Problems) Enhanced VINS-Mono SLAM System

FA3R. Fast Analytical 3D Registration Method Proposed by Jin Wu

Fast_Complementary_Filter. C++ Code of Fast Complementary Filter for Attitude Estimation Using Low-Cost MARG Sensors

uORB-freertos. The Re-Designed uORB Codes by Jin Wu

FKF. Fast Kalman Filter for Attitude Estimation

FS3R. A Fast Symbolic 3D Registration Solution

hand_eye_SO4. The SO(4) solution to the hand-eye calibration problem AX = XB

FLAE. Fast Linear Quaternion Attitude Estimator (FLAE) Using Vector Observations for Wahba's Problem

SEnpp. SE(n)++: An Efficient Unified Solution to Multiple Pose Estimation Problems

icp_mapping_QPEP. The ROS package for QPEP-based ICP Mapping (Originated from https://github.com/ethz-asl/ethzasl_icp_mapping)

FastGLIO.

QPEP-RANSAC. The QPEP (Quadratic Pose Estimation) with RANSAC (Random Sample Consensus)

hand_eye_corr. The correspondence matching for hand-eye calibration problem AX = XB, proposed by Jin Wu et al.

DSO-QPEP-Loop-Closure. The QPEP-Enhanced Direct Sparse Odometry (DSO) with Loop Closure

3dm_gx3_25_single_byte. ROS data acquisition program for 3DM-GX3-25 IMU.

GLnR-cpp. The PCL-C++ repo for Generalized n-Dimensional Registration with Analytical Covariance Estimation

SHERWCIC. Simultaneous Hand-eye/Robot-world/Camera-IMU Calibration

ORB-SLAM3-QPEP. LibQPEP-Enhanced ORB-SLAM3 System

libpointmatcher_QPEP. Quadratic Pose Estimation Problem (QPEP, from HKUST RAM-LAB) based libpointmatcher (originated from ETHZ ASL)

miniQPEP. Minimal Solvers for Quadratic Pose Estimation Problems (QPEPs)

MARG-Gradient-Descent-Kalman. A MARG fusion algorithm with Gradient-Descent Kalman Filtering by Jin Wu.

OnlineMagDisturbanceEstimator. Online Mag Disturbance Estimator proposed by Jin Wu

Cov-SLAM. Accurate Covariance-Aided Visual/Inertial/Magnetic SLAM

eig4. Maximum/Minimum Eigenvalue/Eigenvector Decomposition from 4x4 Matrix

FS3R-CrossWorks. The implementation of FS3R on the STM32H743VIT6 using CrossWorks for ARM IDE

GCF. The generalized complementary filter (GCF) for attitude estimation proposed by Jin Wu

SAAM. Super-Fast Attitude from Accelerometer and Magnatometer

APnP. APnP: A Complete Algebraic Perspective-n-Point Solution

hand_eye_data. The hand-eye calibration data which is synchronized for computation

quat_norm. Fast quaternion normalizer

OctQPEP. The Octave Version of Quadratic Pose Estimation Problems (QPEP) solver

ARRB. Solving the calibration problem AR = RB with computationally efficient quaternion method

GLnR. Genralized Linear n-dimensional Registration Solution (GLnR)

CompLIO. An Efficient Complemtary Filter for Lidar-Inertial Odometry

mac-gazebo. The tuned gazebo 9.0 source codes for successful build and running on macOS 10.15, 11 and 12

vec_hand_eye_att. Unified Attitude Determination from Vector and Hand-eye Measurements

pangolin-opengles. C++

FLAE_cpp. C++ source code of FLAE

Global-Hand-Eye-Calib-Toolkit. A Globally Optimal Hand-eye Calibration Toolkit for ROS

AXYB-Translation.

uORB. C++

sat_att_pos_control. A New Simultaneous Satellite Attitude and Position Control Method by Jin Wu

OLEQs. Optimal Linear Estimator of Quaternion and its variants, proposed by Jin Wu et al.

QPEP-MultiPrecision. Multi-Precision Version of QPEP (Quadratic Pose Estimation Problems)

biquat. Biquaternion evolution derivation using MuPAD

APnP_data. The data for algebraic PnP algorithm (APnP)

OptHEC. Globally Optimal Hand-eye Calibration (MATLAB)

FS3R-Matlab. MATLAB implementation of Fast Symbolic 3D Registration Solution (FS3R) proposed by Jin Wu et al.

uORBGenerator. An uORB Generator Defined by Jin Wu, Zebo Zhou et al.

IET-Paper-Proof. This repository contains the proof of mandatory derivations of our accepted paper on IET Science Measurement and Technology