so3

Library for rigid-body orientation math

UKF over generalized manifold in Matlab

Attitude and it's covariance estimation using raw gyroscope data

Neural implicit reconstruction experiments for the Vector Neuron paper

A Tutorial on Spatial Mathematics

OCaml implementation of Marc Alexa's Super-Fibonacci Spirals (CVPR 2022)

Practical works for SYE (23/24) at HEIG-VD

Lightweight C++ header-only template library for translation, rotation and homogeneous transformation. Requires C++17 or Later. No dependencies with other libraries and stl.

Lie groups and algebra with some quaternions

Implementations of CV concepts related mostly to Single or Two view geometry

A C++ Eigen-based maths library for robotics applications, including SO(3) and SE(3) transformations, screw motions, robot kinematics, and control laws. All the codes are successfully tested in ROS 2 humble.

Real-time MPU6050 inertial sensing, SO(3) attitude estimation, and 3D motion visualization using Arduino Mega and Python.

Various Python utilities including loggers, SE(3) poses, colors, 2D bounding boxes, function decorators, Kalman filter, Plotly functions etc.

Robot Motion Estimate: Tools, Variables, and Factors for SLAM in robotics; also see Caesar.jl.

Introduction to Modern Robotics

Unit quaternion Hamiltonian algebra engine implementing 3D spatial attitude representation and Spherical Linear Interpolation (SLERP) on SO(3).

Unit quaternion Hamiltonian algebra engine implementing 3D spatial attitude representation and Spherical Linear Interpolation (SLERP) on SO(3).

🧫 Demonstrates DEFONEOS LIVE DEMO - watch SOV3 + JEEVES work

A five-lecture course building an SO(3)-equivariant neural network from first principles—rotation symmetry, irreducible representations, Clebsch–Gordan couplings. NumPy and SymPy only, no deep-learning framework. Notes, runnable notebooks and solutions, released weekly.

GINIO: A Geometric SO(3)-Equivariant Interface for Neural Inertial Odometry (CoRL 2026). Lie-Neuron / Vector-Neuron / canonicalised equivariant IMU networks with a covariance interface, filters, checkpoints.