ros2qnukf — ROS 2 Quaternion-based Unscented Kalman Filter c++ package

Abstract

ros2qnukf is a real-time ROS 2 C++ package implementation of a Quaternion-based Unscented Kalman Filter (QNUKF) for GPS-denied visual-inertial navigation. It fuses stereo vision and IMU streams online and publishes live state estimates for localization workflows. The system is validated on the real-world EuRoC MAV dataset, demonstrating practical, numerically stable performance under realistic sensor conditions.

For build and launch instructions, see the repository.

Code — ros2qnukf on GitHub →