Time delay compensated single and multi sensor fusion framework based on an EKF. Please see the wiki for more information: https://github.com/ethz-asl/ethzasl_msf/wiki
The API is documented here: http://ethz-asl.github.io/ethzasl_msf
You are welcome contributing to the package by opening a pull-request: Please make yourself familiar with the Google c++ style guide: http://google-styleguide.googlecode.com/svn/trunk/cppguide.xml
The source code is released under the Apache 2.0 license
MaRS is a actively maintained continuation of ethzasl_msf. Among others it also has online sensor integration, better initialization methods, multi-sensor scalability, and a more elaborate documentation. Please consider using this for new projects! Visit: https://github.com/aau-cns/mars_lib