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1. i2Nav-WHU/Wheel-INS i2Nav-WHU/Wheel-INS Public

   [IEEE TVT 2021] A wheel-mounted MEMS IMU-based dead reckoning system.

   C++ 373 70

2. LIO-EKF LIO-EKF Public

   [ICRA2024] Maybe the simplest LiDAR-inertial odometry that one can have.

   C++ 287 28

3. i2Nav-WHU/Wheel-SLAM i2Nav-WHU/Wheel-SLAM Public

   Simultaneous Localization and Terrain Mapping Using One Wheel-mounted IMU

   MATLAB 148 21

4. i2Nav-WHU/Wheel-GINS i2Nav-WHU/Wheel-GINS Public

   [IEEE TITS 2025] A GNSS/INS Integrated Navigation System with a Wheel-mounted IMU

   C++ 40 4

5. leg-odometry leg-odometry Public

   Proprioceptive state estimation for legged robots using IMU and joint encoders.

   Python 43

6. DGPS DGPS Public

   A real-time pseudorange differential GPS positioning algorithm.

   C++ 16 5