WOLF: A Modular Estimation Framework for Robotics Based on Factor Graphs

This letter introduces
Wolf
, a C++ estimation framework based on factor graphs and targeted at mobile robotics.
Wolf
can be used beyond SLAM to handle self-calibration, model identification, or the observation of dynamic quantities other than localization. The architecture of
Wolf
allows for a modular yet tightly-coupled estimator. Modularity is enhanced via reusable plugins that are loaded at runtime depending on application setup. This setup is achieved conveniently through YAML files, allowing users to configure a wide range of applications without the need of writing or compiling code. Most procedures are coded as abstract algorithms in base classes with varying levels of specialization. Overall, all these assets allow for coherent processing and favor code re-usability and scalability.
Wolf
can be used with
ROS
, and is made publicly available and open to collaboration.