Explore @ethz-asl Open Source projects

ETHZ ASL (@ethz-asl)

ethz-asl

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kalibr

The Kalibr visual-inertial calibration toolbox

maplab

A Modular and Multi-Modal Mapping Framework

voxblox

A library for flexible voxel-based mapping, mainly focusing on truncated and Euclidean signed distance fields.

rotors_simulator

RotorS is a UAV gazebo simulator

okvis

OKVIS: Open Keyframe-based Visual-Inertial SLAM.

rovio

segmap

A map representation based on 3D segments

ethzasl_msf

MSF - Modular framework for multi sensor fusion based on an Extended Kalman Filter (EKF)

lidar_align

A simple method for finding the extrinsic calibration between a 3D lidar and a 6-dof pose sensor

hfnet

From Coarse to Fine: Robust Hierarchical Localization at Large Scale with HF-Net (https://arxiv.org/abs/1812.03506)

aerial_mapper

Real-time Dense Point Cloud, Digital Surface Map (DSM) and (Ortho-)Mosaic Generation for UAVs

robust_point_cloud_registration

Robust Point Cloud Registration Using Iterative Probabilistic Data Associations ("Robust ICP")

mav_trajectory_generation

Polynomial trajectory generation and optimization, especially for rotary-wing MAVs.

mav_active_3d_planning

Modular framework for online informative path planning.

voxgraph

Voxblox-based Pose graph optimization

polygon_coverage_planning

Coverage planning in general polygons with holes.

mav_voxblox_planning

MAV planning tools using voxblox as the map representation.

hand_eye_calibration

Python tools to perform time-synchronization and hand-eye calibration.

voxblox-plusplus

A volumetric object-level semantic mapping framework.

dynablox

Real-time detection of diverse dynamic objects in complex environments.

mav_control_rw

Control strategies for rotary wing Micro Aerial Vehicles using ROS

ethzasl_sensor_fusion

time delay single and multi sensor fusion framework based on an EKF

nbvplanner

A real-time capable exploration and inspection path planner (next best view planning)

ethzasl_icp_mapping

3D mapping tools for robotic applications

panoptic_mapping

A flexible submap-based framework towards spatio-temporally consistent volumetric mapping and scene understanding.

okvis_ros

OKVIS: Open Keyframe-based Visual-Inertial SLAM (ROS Version)

laser_slam

This package provides an end-to-end system to laser-based graph SLAM using laser point clouds.

versavis

An Open Versatile Multi-Camera Visual-Inertial Sensor Suite

image_undistort

A compact package for undistorting images directly from kalibr calibration files. Can also perform dense stereo estimation

kitti_to_rosbag

Dataset tools for working with the KITTI dataset raw data ( http://www.cvlibs.net/datasets/kitti/raw_data.php ) and converting it to a ROS bag. Also allows a library for direct access to poses, velodyne scans, and images.

ethzasl_ptam

Modified version of Parallel Tracking and Mapping (PTAM)

geodetic_utils

Simple library for converting coordinates to/from several geodetic frames (lat/lon, ECEF, ENU, NED, etc.)

wavemap

Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping

cblox

Voxblox-based submapping

aslam_cv2

volumetric_mapping

A repository for 3D volumetric (occupancy) maps, providing a generic interface for disparity map and pointcloud insertion, and support for custom sensor error models.

vgn

Real-time 6 DOF grasp detection in clutter.

hierarchical_loc

Deep image retrieval for efficient 6-DoF localization

orb_slam_2_ros

ROS interface for ORBSLAM2!!

glocal_exploration

Efficient local and global exploration on submap collections with changing past pose estimates.

mav_dji_ros_interface

Interface of DJI autopilot based on its OSDK (3.2)

programming_guidelines

This repository contains style-guides, discussions, eclipse/emacs auto-formatter for commonly used programming languages

lidar_undistortion

Catkin package that provides lidar motion undistortion based on an external 6DoF pose estimation input.

tsdf-plusplus

TSDF++: A Multi-Object Formulation for Dynamic Object Tracking and Reconstruction

odom_predictor

Integrates an IMU to predict future odometry readings

depth_segmentation

A collection of segmentation methods working on depth images

neuralblox

Real-time Neural Representation Fusion for Robust Volumetric Mapping

grid_map_geo

Geolocalization for grid map using GDAL.

phaser

A robust pointcloud registration pipeline based on correlation.

eth_supermegabot

Instructions for ETH center for robotics summer school 2019.

StructuralInspectionPlanner

ASL Structural Inspection Planner

waypoint_navigator

Stand-alone waypoint navigator

ethzasl_xsens_driver

Driver for xsens IMUs

mav_tools_public

General launch files, parameters and wiki entries on our systems and related issues

reinmav-gym

Reinforcement Learning framework for MAVs using the OpenAI Gym environment

minkindr

A minimal library for transformations, following the kindr interface. Uses active quaternions of rotation in Hamilton notation.

cuckoo_time_translator

algorithms for synchronizing clocks

data-driven-dynamics

Data Driven Dynamics Modeling for Aerial Vehicles

sl_sensor

SL Sensor: An open-source, real-time and ROS-based structured light sensor for high accuracy construction robotic applications

ethz_piksi_ros

ROS drivers for the Piksi RTK GPS module

unreal_airsim

Simulation interface to Unreal Engine 4 based on the AirSim plugin.

vicon_bridge

This is a driver providing data from VICON motion capture systems. It is based on the vicon_mocap package from the starmac stacks. Additionally, it can handle multiple subjects / segments and allows to calibrate an origin of the vehicle(s) as this is somehow tedious with the VICON Tracker.

ros-system-monitor

System monitoring tools for ROS.

voxblox_ground_truth

Create ground truth voxblox maps from Gazebo worlds or .ply files

navrep

curves

A library of curves for estimation.

schweizer_messer

Programming tools for robotics.

time_autosync

Automatically syncs a camera to a rigidly attached IMUs time frame

unreal_cv_ros

Unreal CV ROS Perception Simulator

ai_for_robotics

Programming Exercises Accompanying the Lecture "Artificial Intelligence for Robotics"

lcd

Line Clustering and Description for Place Recognition

trajectory_toolkit

Python tool for analyzing and evaluating trajectory data

dataset_tools

Loader for the generic ASL dataset formats.

rl-navigation

asl-student-templates

Templates and overview information for student projects at ASL

libseekthermal

Driver library for Seek Thermal imaging devices

plotty

matplotlib-cpp with Eigen interfaces.

3d_vsg

3D Variable Scene Graphs for long-term semantic scene change prediction.

terrain-navigation

Repository for Safe Low Altitude Navigation in steep terrain for fixed-wing Aerial Vehicles (RA-L Submission)

forest_gen

Generates randomized Poisson forests to use for UAV collision avoidance evaluations.

sampling_based_control

Jupyter Notebook

tmplanner

Terrain monitoring planner

reactive_avoidance

Reactive obstacle avoidance using raytracing or lidars

3d3l

Deep Learned Keypoint Detection and Description for 3D LiDARs

visensor_node

Visual inertial SLAM sensor ROS node.

mav_comm

This repository contains message and service definitions used for mavs. All future message definitions go in here, existing ones in other stacks should be moved here where possible.

maplab_rovio

Hard-fork of ROVIO to integrate localization.

autolabel

A project for computing high-quality ground truth training examples for RGB-D data.

active_grasp

Closed-loop next-best view planning for grasp detection in clutter.

two_state_information_filter

ssc_exploration

Incremental 3D Scene Completion for Safe and Efficient Exploration Mapping and Planning

Learn-to-Calibrate

We utilize deep reinforcement learning to obtain favorable trajectories for visual-inertial system calibration.

rtklibros

rtklib with ros interfacing and adapted feedback from external Kalman filter

cvae_exploration_planning

Learning informed sampling distributions and information gains for efficient exploration planning.

libvisensor

Low level hardware driver for the visual inertial SLAM sensor.

mav_gtsam_estimator

A GTSAM based state estimation framework.

mav_system_identification

Matlab scripts to perform system identification for muti-rotor systems

x-view

matlab_trajectory_tools

Tools for enabling quick display and analysis of trajectories and transformations in Matlab.

fgsp

Jupyter Notebook