STARS Laboratory (@utiasSTARS)
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Top repositories

1

pykitti

Python tools for working with KITTI data.
Python
1,152
star
2

liegroups

Python implementation of SO2, SE2, SO3, and SE3 matrix Lie groups using numpy or pytorch
Python
332
star
3

bingham-rotation-learning

A Smooth Representation of SO(3) for Deep Rotation Learning with Uncertainty.
Jupyter Notebook
182
star
4

msckf-swf-comparison

MATLAB code and data for our CRV 2015 paper
MATLAB
132
star
5

GraphIK

A library for solving inverse kinematics with graphical models and distance geometry.
Python
113
star
6

pyshoe

An open source foot-mounted INS accompanied by a comprehensive inertial dataset.
Python
83
star
7

pyslam

Non-linear least-squares SLAM in Python using scipy and numpy. Modelled after Google's Ceres solver.
Python
73
star
8

dpc-net

Deep Pose Correction for Visual Localization
Python
72
star
9

certifiable-calibration

Certifiably globally optimal extrinsic calibration for sensors providing egomotion estimates.
Python
66
star
10

PhoenixDrone

Open-Source Releases of the Phoenix Tail-sitter Drone Project
52
star
11

cat-net

Canonical Appearance Transformations
Python
52
star
12

ss-dpc-net

Supporting Code for "Self-Supervised Deep Pose Corrections for Robust Visual Odometry"
Python
52
star
13

learned_scale_recovery

Accompanying code for 'Self-Supervised Scale Recovery for Monocular Visual Odometry'
Python
47
star
14

sun-bcnn

Bayesian CNN Sun Detector
Python
34
star
15

enav-planetary-dataset

Energy-Aware Planetary Navigation Dataset
Python
34
star
16

sos-rotation-averaging

Certifiably globally optimal unit quaternion rotation averaging via Sparse Bounded-degree sum of squares optimization.
MATLAB
16
star
17

lfgp

Learning from Guided Play: A Scheduled Hierarchical Approach for Improving Exploration in Adversarial Imitation Learning Source Code
Python
15
star
18

pyb-sim-models

PyBullet simulation models repository
Python
15
star
19

sos-ik

Inverse kinematics using sum of squares optimization.
MATLAB
14
star
20

tightly-coupled-SfM

Python
14
star
21

matchable-image-transforms

Learning Matchable Image Transformations
Python
12
star
22

manipulator-learning

Manipulation OpenAI Gym environments to simulate robots at the STARS lab, as well as compatible imitation learning tools
Python
11
star
23

cslam-resource

MATLAB
11
star
24

Phoenix-Simulink

Phoenix Tailsitter MATLAB Simulink Models
10
star
25

inertial-identification-with-part-segmentation

Source code implementing our visual part-segmentation pipeline and inertial identification algorithms, and our contributed dataset of objects used to test the whole pipeline.
C++
9
star
26

so3_learning

Learning deep probabilistic estimates of SO(3)
Python
9
star
27

learned-camera-controller

Python
8
star
28

visual-haptic-dynamics

Visual-Haptic Latent Dynamics
Jupyter Notebook
8
star
29

multiview-manipulation

Seeing All the Angles: Learning Multiview Manipulation Policies for Contact-Rich Tasks from Demonstrations
Jupyter Notebook
8
star
30

generative-graphik

Generative and Graphical Inverse Kinematics
Python
8
star
31

PX4-PhoenixDrone

PX4 Source Code for Phoenix Tail-sitter
C++
7
star
32

ceres-slam

A Ceres-based SLAM system.
C++
7
star
33

robust-latent-srl

Heteroscedastic Uncertainty for Robust Generative Latent Dynamics
Python
6
star
34

panda-rl-envs

Reinforcement Learning on a Panda Manipulator using FAIR's Polymetis
Python
4
star
35

vpace

Scripts for running VPACE experiments.
Python
3
star
36

ROB498-support

Materials for ROB498 Capstone Design Course.
2
star
37

ROB498-flight

ROB498 flight software repository (for Jetson, etc.).
Dockerfile
2
star
38

panda-polymetis

Tools for working with a panda robot using FAIR's polymetis library.
Python
2
star
39

transform-utils

Common SO3 and SE3 functionalities that can be used across repos.
Python
2
star
40

ros-np-tools

A set of reusable functions and classes for reducing boilerplate ROS and related numpy code.
Python
2
star
41

ALLO

The Anomaly Localization in Lunar Orbit (ALLO) data generation code and benchmark evaluation
Python
2
star
42

thing-gym-ros

A repository containing OpenAI gym-based envs built on ROS to be combined with the Thing mobile manipulation platform at UTIAS.
Python
1
star
43

Phoenix-MCAD

Mechanical CAD files for construction of Phoenix Tailsitter
1
star
44

PhoenixDrone-sitl_gazebo

Gazebo Plugins for SITL Simulation with Phoenix Drone
C++
1
star