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项目作者： Kleiber

项目描述 ：
Probabilistic robotic algorithms
高级语言： C++
项目地址: git://github.com/Kleiber/probabilistic-robotic.git
创建时间： 2017-01-13T18:31:54Z
项目社区：https://github.com/Kleiber/probabilistic-robotic
开源协议：
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Probabilistic Robotic

  • KalmanFilter1D.cpp
  • KalmanFilter2D.cpp
  • KalmanFilter4D.cpp
  • MarkovLocalization1D.cpp
  • MarkovLocalization2D.cpp
  • ParticleFilterBicycleModel.cpp
  • ParticleFilterSimpleModel.cpp

This is a list of various books, courses and other resources for robotics. It’s an attempt to gather useful material in one place for everybody who wants to learn more about the field.

Courses

Books

Software and Libraries

Gazebo
Robot Simulator

ROS
The Robot Operating System (ROS) is a flexible framework for writing robot software. It is a collection of tools, libraries, and conventions that aim to simplify the task of creating complex and robust robot behavior across a wide variety of robotic platforms.

RobWork
RobWork is a collection of C++ libraries for simulation and control of robot systems. RobWork is used for research and education as well as for practical robot applications.

MRPT
Mobile Robot Programming Toolkit provides developers with portable and well-tested applications and libraries covering data structures and algorithms employed in common robotics research areas.

Robotics Library
The Robotics Library (RL) is a self-contained C++ library for robot kinematics, motion planning and control. It covers mathematics, kinematics and dynamics, hardware abstraction, motion planning, collision detection, and visualization.

Simbad
2D/3D simulator in Java and Jython.

Morse
General purpose indoor/outdoor 3D simulator.

Carmen
CARMEN is an open-source collection of software for mobile robot control. CARMEN is modular software designed to provide basic navigation primitives including: base and sensor control, logging, obstacle avoidance, localization, path planning, and mapping.

Peekabot
Peekabot is a real-time, networked 3D visualization tool for robotics, written in C++. Its purpose is to simplify the visualization needs faced by a roboticist daily.

YARP
Yet Another Robot Platform.

V-REP
Robot simulator, 3D, source available, Lua scripting, APIs for C/C++, Python, Java, Matlab, URBI, 2 physics engines, full kinematic solver.

Webots
Webots is a development environment used to model, program and simulate mobile robots.

Drake
A planning, control and analysis toolbox for nonlinear dynamical systems.

Neurorobotics Platform (NRP)
An Internet-accessible simulation system that allows the simulation of robots controlled by spiking neural networks.

The Player Project
Free Software tools for robot and sensor applications

AirSim
AirSim is a simulator for drones (and soon other vehicles) built on Unreal Engine

Papers

Conferences

Journals

Competitions

Companies

Misc

The list of vision-based SLAM / Visual Odometry open source projects, libraries, dataset, tools, and studies

Libraries

Basic vision and trasformation libraries
Thread-safe queue libraries
Loop detection
Graph Optimization
Map library

Dataset

Dataset for benchmark/test/experiment/evalutation

Tools

Projects

RGB (Monocular):

  • Kimera. Available on ROS

    A. Rosinol, M. Abate, Y. Chang, L. Carlone. Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping. arXiv preprint arXiv:1910.02490.

  • PTAM

    [1] Georg Klein and David Murray, “Parallel Tracking and Mapping for Small AR Workspaces”, Proc. ISMAR 2007
    [2] Georg Klein and David Murray, “Improving the Agility of Keyframe-based SLAM”, Proc. ECCV 2008

  • DSO. Available on ROS

    Direct Sparse Odometry, J. Engel, V. Koltun, D. Cremers, In arXiv:1607.02565, 2016
    A Photometrically Calibrated Benchmark For Monocular Visual Odometry, J. Engel, V. Usenko, D. Cremers, In arXiv:1607.02555, 2016

  • LSD-SLAM. Available on ROS

    LSD-SLAM: Large-Scale Direct Monocular SLAM, J. Engel, T. Schöps, D. Cremers, ECCV ‘14
    Semi-Dense Visual Odometry for a Monocular Camera, J. Engel, J. Sturm, D. Cremers, ICCV ‘13

  • ORB-SLAM. Available on ROS

    [1] Raúl Mur-Artal, J. M. M. Montiel and Juan D. Tardós. ORB-SLAM: A Versatile and Accurate Monocular SLAM System. IEEE > Transactions on Robotics, vol. 31, no. 5, pp. 1147-1163, 2015. (2015 IEEE Transactions on Robotics Best Paper Award). PDF.
    [2] Dorian Gálvez-López and Juan D. Tardós. Bags of Binary Words for Fast Place Recognition in Image Sequences. IEEE > Transactions on Robotics, vol. 28, no. 5, pp. 1188-1197, 2012. PDF.

  • Nister’s Five Point Algorithm for Essential Matrix estimation, and FAST features, with a KLT tracker

    D. Nister, “An efficient solution to the five-point relative pose problem,” Pattern Analysis and Machine Intelligence, IEEE Transactions on, vol. 26, no. 6, pp. 756–770, 2004.

  • SVO-SLAM. Available on ROS

    Christian Forster, Matia Pizzoli, Davide Scaramuzza, “SVO: Fast Semi-direct Monocular Visual Odometry,” IEEE International Conference on Robotics and Automation, 2014.

RGB and Depth (Called RGBD):

  • OpenCV RGBD-Odometry (Visual Odometry based RGB-D images)

    Real-Time Visual Odometry from Dense RGB-D Images, F. Steinbucker, J. Strum, D. Cremers, ICCV, 2011

  • Dense Visual SLAM for RGB-D Cameras. Available on ROS

    [1]Dense Visual SLAM for RGB-D Cameras (C. Kerl, J. Sturm, D. Cremers), In Proc. of the Int. Conf. on Intelligent Robot Systems (IROS), 2013.
    [2]Robust Odometry Estimation for RGB-D Cameras (C. Kerl, J. Sturm, D. Cremers), In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2013
    [3]Real-Time Visual Odometry from Dense RGB-D Images (F. Steinbruecker, J. Sturm, D. Cremers), In Workshop on Live Dense Reconstruction with Moving Cameras at the Intl. Conf. on Computer Vision (ICCV), 2011.

  • RTAB MAP - Real-Time Appearance-Based Mapping. Available on ROS

    Online Global Loop Closure Detection for Large-Scale Multi-Session Graph-Based SLAM, 2014
    Appearance-Based Loop Closure Detection for Online Large-Scale and Long-Term Operation, 2013

  • ORB2-SLAM. Available on ROS

    [1] Raúl Mur-Artal, J. M. M. Montiel and Juan D. Tardós. ORB-SLAM: A Versatile and Accurate Monocular SLAM System. IEEE > Transactions on Robotics, vol. 31, no. 5, pp. 1147-1163, 2015. (2015 IEEE Transactions on Robotics Best Paper Award).
    [2] Dorian Gálvez-López and Juan D. Tardós. Bags of Binary Words for Fast Place Recognition in Image Sequences. IEEE Transactions on Robotics, vol. 28, no. 5, pp. 1188-1197, 2012.

  • InfiniTAM∞ v2

    Kahler, O. and Prisacariu, V.~A. and Ren, C.~Y. and Sun, X. and Torr, P.~H.~S and Murray, D.~W. Very High Frame Rate Volumetric Integration of Depth Images on Mobile Device. IEEE Transactions on Visualization and Computer Graphics (Proceedings International Symposium on Mixed and Augmented Reality 2015

  • Kintinuous

    Real-time Large Scale Dense RGB-D SLAM with Volumetric Fusion, T. Whelan, M. Kaess, H. Johannsson, M.F. Fallon, J. J. Leonard and J.B. McDonald, IJRR ‘14

  • ElasticFusion

    [1] ElasticFusion: Real-Time Dense SLAM and Light Source Estimation, T. Whelan, R. F. Salas-Moreno, B. Glocker, A. J. Davison and S. Leutenegger, IJRR ‘16
    [2] ElasticFusion: Dense SLAM Without A Pose Graph, T. Whelan, S. Leutenegger, R. F. Salas-Moreno, B. Glocker and A. J. Davison, RSS ‘15

  • Co-Fusion

    Martin Rünz and Lourdes Agapito. Co-Fusion: Real-time Segmentation, Tracking and Fusion of Multiple Objects. 2017 IEEE International Conference on Robotics and Automation (ICRA)

RGBD and LIDAR:

Other open source projects

DynaSLAM A SLAM system robust in dynamic environments for monocular, stereo and RGB-D setups

openvslam A Versatile Visual SLAM Framework