机器人

移动机器人 VREP下仿真 ros控制

机器人环境软件安装脚本 ceres tensorflow ros caffe vrep eigen cudnn and cuda

以优达学城 机器人人工智能课程为起点 逐渐丰富内容

probabilistic robotics 概率机器人编程练习题 matlab

ros下 基于激光雷达的 移动机器人小车 代码

ros下 基于激光雷达的 动态环境下的 导航 路径规划 避障

其他参考课程

CSE 571: Robotics

汉堡大学 移动机器人 Introduction to Mobile Robotics Kinematics Sensors Vehicle localization Map building SLAM Path planning Exploration of unknown terrain

弗莱堡课程Robot Mapping - WS 2013/14

Occupancy Grid Mapping 占用栅格地图构建算法实现《概率机器人》第9章

CSE598C Vision-Based Tracking 课程 滤波+跟踪

粒子滤波 A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking

Udacity_Bot 机器人定位路径规划仿真 两轮差分底盘 自适应蒙特卡洛定位 Gazebo仿真

(PDF) Principles of Robot Motion

树莓派+Arduino+TensorFlow：搭建图像识别小车

高程制图-粗糙地形导航

网格地图——移动机器人地图的通用栅格地图库

自由步态——腿式机器人多功能控制的体系结构

机器人运动学与动力学

ROS wrappers for kindr 定制的ros系统

粗糙地形导航的建图 移动 估计

一种高度移动和动态的四足机器人

Robotics 须知　

相关参考 Relevant Awesome Lists

• ahundt/awesome-robotics
• Kiloreaux/awesome-robotics - Learn about Robotics.
• Robotics Libraries　库 - Another list of awesome robotics libraries.
• Computer Vision 计算机视觉
• Deep Learning 深度学习 - Neural networks.
  • TensorFlow - Library for machine intelligence.
  • Papers - The most cited deep learning papers.
• Deep Vision 深度学习计算机视觉 - Deep learning for computer vision
• Data Visualization 数据可视化 - See what your robot is doing with any programming language.

Simulators 仿真器

• V-REP - Create, Simulate, any Robot.
• Microsoft Airsim - Open source simulator based on Unreal Engine for autonomous vehicles from Microsoft AI & Research.
• Bullet Physics SDK - Real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc. Also see pybullet.

可视化Visualization, Video, Display, and Rendering

• Pangolin　可视化 - A lightweight portable rapid development library for managing OpenGL display / interaction and abstracting video input.
• PlotJuggler - Quickly plot and re-plot data on the fly! Includes optional ROS integration.
• Data Visualization - A list of awesome data visualization tools.

机器学习　Machine Learning

TensorFlow related

• Keras - Deep Learning library for Python. Convnets, recurrent neural networks, and more. Runs on TensorFlow or Theano.
• keras-contrib - Keras community contributions.
• TensorFlow - An open-source software library for Machine Intelligence.
• recurrentshop - Framework for building complex recurrent neural networks with Keras.
• tensorpack - Neural Network Toolbox on TensorFlow.
• tensorlayer - Deep Learning and Reinforcement Learning Library for Researchers and Engineers.
• TensorFlow-Examples - TensorFlow Tutorial and Examples for beginners.
• hyperas - Keras + Hyperopt: A very simple wrapper for convenient hyperparameter optimization.
• elephas - Distributed Deep learning with Keras & Spark
• PipelineAI - End-to-End ML and AI Platform for Real-time Spark and Tensorflow Data Pipelines.
• sonnet - Google Deepmind APIs on top of TensorFlow.
• visipedia/tfrecords - Demonstrates the use of TensorFlow's TFRecord data format.

图像分割 Image Segmentation

• tf-image-segmentation - Image Segmentation framework based on Tensorflow and TF-Slim library.
• Keras-FCN

日志和消息 Logging and Messaging

• spdlog - Super fast C++ logging library.
• lcm - Lightweight Communications and Marshalling, message passing and data marshalling for real-time systems where high-bandwidth and low latency are critical.

跟踪 Tracking

• simtrack - A simulation-based framework for tracking.
• ar_track_alvar - AR tag tracking library for ROS.
• artoolkit5 - Augmented Reality Toolkit, which has excellent AR tag tracking software.

机器人操作系统 Robot Operating System (ROS)

• ROS - Main ROS website.
• ros2/design - Design documentation for ROS 2.0 effort.

正逆运动学　动力学　带约束最优化 Kinematics, Dynamics, Constrained Optimization

• jrl-umi3218/Tasks - Tasks is library for real time control of robots and kinematic trees using constrained optimization.
• jrl-umi3218/RBDyn - RBDyn provides a set of classes and functions to model the dynamics of rigid body systems.
• ceres-solver - Solve Non-linear Least Squares problems with bounds constraints and general unconstrained optimization problems. Used in production at Google since 2010.
• orocos_kinematics_dynamics - Orocos Kinematics and Dynamics C++ library.
• flexible-collsion-library - Performs three types of proximity queries on a pair of geometric models composed of triangles, integrated with ROS.
• robot_calibration - generic robot kinematics calibration for ROS

校准 Calibration

• handeye-calib-camodocal - generic robot hand-eye calibration.
• robot_calibration - generic robot kinematics calibration for ROS
• kalibr - camera and imu calibration for ROS

增强学习 Reinforcement Learning

• TensorForce - A TensorFlow library for applied reinforcement learning
• gqcnn - Grasp Quality Convolutional Neural Networks (GQ-CNNs) for grasp planning using training datasets from the Dexterity Network (Dex-Net)
• Guided Policy Search - Guided policy search (gps) algorithm and LQG-based trajectory optimization, meant to help others understand, reuse, and build upon existing work.

传感器 设备 机械臂驱动 Drivers for Sensors, Devices and Arms

• libfreenect2 - Open source drivers for the Kinect for Windows v2 and Xbox One devices.
• iai_kinect2 - Tools for using the Kinect One (Kinect v2) in ROS.
• grl - Generic Robotics Library: Cross platform drivers for Kuka iiwa and Atracsys FusionTrack with optional v-rep and ros drivers. Also has cross platform Hand Eye Calibration and Tool Tip Calibration.

数据集 Datasets

• pascal voc 2012 - The classic reference image segmentation dataset.
• openimages - Huge imagenet style dataset by Google.
• COCO - Objects with segmentation, keypoints, and links to many other external datasets.
• cocostuff - COCO additional full scene segmentation including backgrounds and annotator.
• Google Brain Robot Data - Robotics datasets including grasping, pushing, and pouring.
• Materials in Context - Materials Dataset with real world images in 23 categories.
• Dex-Net 2.0 - 6.7 million pairs of synthetic point clouds and grasps with robustness labels.

Dataset Collection

• cocostuff - COCO additional full scene segmentation including backgrounds and annotator.

线性代数 几何学 Linear Algebra & Geometry

• Eigen - Eigen is a C++ template library for linear algebra: matrices, vectors, numerical solvers, and related algorithms.
• Boost.QVM - Quaternions, Vectors, Matrices library for Boost.
• Boost.Geometry - Boost.Geometry contains instantiable geometry classes, but library users can also use their own.
• SpaceVecAlg - Implementation of spatial vector algebra for 3D geometry with the Eigen3 linear algebra library.
• Sophus - C++ implementation of Lie Groups which are for 3D Geometry, using Eigen.

点云 Point Clouds

• libpointmatcher - An "Iterative Closest Point" library robotics and 2-D/3-D mapping.
• Point Cloud Library (pcl) - The Point Cloud Library (PCL) is a standalone, large scale, open project for 2D/3D image and point cloud processing.

同时定位与建图 Simultaneous Localization and Mapping (SLAM)

• ElasticFusion - Real-time dense visual SLAM system.
• co-fusion - Real-time Segmentation, Tracking and Fusion of Multiple Objects. Extends ElasticFusion.
• Google Cartographer - Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
• OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees. Contains the main OctoMap library, the viewer octovis, and dynamicEDT3D.
• ORB_SLAM2 - Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities.