机器人

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

其他参考课程

CSE 571: Robotics

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

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.