Simulation platform for general-purpose robotics & embodied AI learning.
Repository Index
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Multi-Joint dynamics with Contact. A general purpose physics simulator.
ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
- slam-algorithms
The Kalibr visual-inertial calibration toolbox
- camera
- calibration
- calibration-toolbox
- imu
LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping
- lidar-odometry
- lidar-slam
- loam-velodyne
- lidar-inertial
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
- robotics
- dynamics
- analytical-derivatives
- kinematics
g2o: A General Framework for Graph Optimization
- g2o
- slam
- c-plus-plus
- graph-optimization
An open source platform for visual-inertial navigation research.
- visual-inertial-odometry
- slam
- msckf
- sensor-calibration
The repository host gives no description.
Index repo for Kimera code
- robotics
- computer-vision
- semantics
- 3d-reconstruction
Hybrid A* Path Planner for the KTH Research Concept Vehicle
- motion-planning
- planning-algorithms
- robotics
Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.
- trajectory-generation
- robotics
- jerk-constrained
- time-optimal
An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)
- ros
- mobile-robots
- navigation
- trajectory-optimization
A generalized framework for prototyping full-stack cooperative driving automation applications under CARLA+SUMO.
- autonomous-driving
- cooperative-driving-automation
- simulation
- connected-and-automated-vehicles
Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)
- sensor-fusion
- slam
- mapping
- icra2019
AI-IMU Dead-Reckoning
- imu
- state-estimation
- inertial-odometry
- localization
X Inertial-aided Visual Odometry
- vio
- visual-inertial
- odometry
- slam
The fuse stack provides a general architecture for performing sensor fusion live on a robot. Some possible applications include state estimation, localization, mapping, and calibration.
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
This repository contains multiple approaches for generating global racetrajectories.
The ROSPlan framework provides a generic method for task planning in a ROS system.
Motion-primitives Based Planner for Fast & Agile Exploration
Bayesian Generalized Kernel Inference for Terrain Traversability Mapping