fusioncore_core
Pure C++ UKF sensor fusion library underlying FusionCore. Fuses IMU, wheel encoders, GPS, and visual SLAM pose in a 23-state unscented Kalman filter. Includes ECEF GPS conversion, online gyro/accel/encoder bias estimation, adaptive noise covariance, chi-squared outlier gating, ZUPT, and GPS-denied operation. No ROS dependency, usable standalone.