Repository Index

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities

pySLAM is a hybrid Python/C++ Visual SLAM pipeline supporting monocular, stereo, and RGB-D cameras. It provides a broad set of modern local and global feature extractors, multiple loop-closure strategies, a volumetric reconstruction module, integrated depth-prediction models, and semantic segmentation capabilities for enhanced scene understanding.

• 3d-reconstruction
• depth-prediction
• feature-matching
• global-features

A Versatile and Accurate Monocular SLAM

Robust and efficient coverage paths for autonomous agricultural vehicles. A modular and extensible Coverage Path Planning library

• agriculture
• autonomous-vehicles
• coverage-path-planning
• cpp17

CubeSLAM: Monocular 3D Object Detection and SLAM

• slam

A lightweight, accurate and robust monocular visual inertial odometry based on Multi-State Constraint Kalman Filter.

• visual-inertial-odometry
• msckf
• localization
• ekf-mono-slam

RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics, the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix and is also able to compute forward dynamics with external contact constraints and collision impulses. Furthermore it has some basic support for forward and inverse kinematics.

• articulated-body-algorithm
• inverse-dynamics
• forward-dynamics
• multi-body-dynamics

Geometry-Aware Monocular RGB Planning

Python package for inverse kinematic calculations of hybrid serial parallel robots

• python
• robotics
• kinematics
• inverse-kinematics