Bayes++

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Bayes++ is an open source C++ library for Bayesian filtering. The library is mainly written by Michael Stevens, and is platform independent. It uses the Boost uBLAS library for matrix handling.

[edit] Features

Kalman filters (Extended, Unscented and Information filters; with ordinary and square-root implementations)
Sampling Importance Resampling (SIR) filters (Particle filter/ weighted Bootstrap; with general and Kalman implementations)
Simultaneous localization and mapping