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Robot Motion Estimate: A set of functions for developing robotics-related navigation, tracking, and mapping (i.e. SLAM) front-ends using the [Multi-modal iSAM] backend solver. The backend is implemented more abstractly in the IncrementalInference.jl package. See the related references of interest here. Most notably, this package provides common navigation-type variables and factors to be included in more general DistributedFactorGraphs.jl graph objects.
You can directly install with:
using Pkg Pkg.add("RoME")
If you are interested in a broader toolkit, which includes a visualizer and database interaction, please see Caesar.jl.
We are grateful for many, many contributions within the Julia package ecosystem -- see the
Caesar.jl/Project.toml (and upstream package) files for a far reaching list of contributions.
Consider citing our work using the common reference at Caesar.jl Citation with IncrementalInference.jl DOI.