[kharwarm]

Fair point about the README... yeah, I did use Claude to help with the docs. But just to be clear, I’m not using OpenClaw or any other automated tools. FusionCore is a legit package: it’s available via apt, and the code’s up on GitHub. The filter and benchmarking work are my own. If you want to dig into the implementation, the core math is in ukf.cpp and fusioncore.cpp.

As for WOLF... it’s actually a really interesting framework, so credit where it’s due. That said, it’s built around a different philosophy. It’s a general-purpose factor graph system, while FusionCore is more opinionated and tuned specifically for GPS/IMU/wheel-based outdoor robotics.

If you’ve got a dataset you’d like me to run FusionCore on, send it over... I’m happy to share results. That might be a more useful way to compare them.

[jeremysalwen]

I don't like saying "oh this is AI generated" because of exactly this scenario, where maybe there is care behind it and you just used AI to help you write. The problem is that as a reader I have no way to tell, and aillI have a lot of experience reading AI generated writing where it's subtly incorrect or misleading.

I would really suggest you rewrite the README, to remove the cliches and make it clear how much effort you put in. You clearly are able to communicate well about this project on your own.

[kharwarm]

Fair, and I appreciate you saying that. I'll rewrite the intro section.... you're right that I can describe it better myself. The technical docs I'll keep as-is (parameter tables, migration steps), but the "what it is and why I built it" part should be mine.