Discover norlab-ulaval/libpointmatcher Open Source project

Implementation of Grondin et al. 2022 "Tree Detection and Diameter Estimation Based on Deep Learning". Also includes datasets and some of the pretrained models.

440

PercepTreeV1

cheatsheet of all the basics notions of Lie algebra

cheatsheet_LieAlgebra

A 2-D/3-D mapping library relying on the "Iterative Closest Point" algorithm

norlab_icp_mapper

A curated list of Canadian robotics open-source software, companies and researchers.

awesome-canadian-robotics

logpiles_segmentation

Code repository for paper Instance Segmentation for Autonomous Log Grasping in Forestry Operations

Code and Python library to process Robotic Total Stations data

RTS_project

A bridge between norlab_icp_mapper and ROS

norlab_icp_mapper_ros

Nodes that allow reliable TCP relay of ROS 2 topics between remote machines.

ros2_tcp_tunnel

A lidar-based Teach-and-Repeat framework designed to enable outdoor autonomous navigation in harsh weather.

wiln

Source code for "MaskBEV: Joint Object Detection and Footprint Completion for Bird's-eye View 3D Point Clouds"

mask_bev

Norlab_wiki

A set of nodes that can do teach and repeat on a Clearpath Husky A200, under ROS.

husky-trainer

Driver for xsens IMUs compatible with ROS 2

norlab_xsens_driver

BorealHDR

percep3d_lessons

camera_white_balance

RTS_ROS_node_Trimble

Node Ros which can directly read data of theodolite and send them to robot

BorealTC: Deep Learning for Proprioceptive-Based Terrain Classification in a Boreal Setting

BorealTC

Set of tools for imu data processing and publishing

norlab_imu_tools

Small library containing basic functions for lie algebra (SO(3) and SE(3)) matrix manipulation

Liblie

A bridge between libpointmatcher and ROS

libpointmatcher_ros

Project goal: Have access to a simulator for doing research on mobile robotic control algorithms subject to adversarial conditions.

SNOW-sim_internship_H22

Shell

norlab_trajectory

Trajectory interpolation using Gaussian processes

Tools for removing motion skew from rotating pointclouds.

pointcloud_motion_deskew

A list of Latex packages used to standardize good practices in the Northern Robotics Lab

latexGoodPractices

A UGV characterization node that automates training dataset gathering, covering the entire spectrum of commands uniformly.

DRIVE

ROS wrapper for the norlab_controllers library

norlab_controllers_ros

Occupancy grid framework using the theory of the Lambda-Fields.

Lambda_mapper

A python library for norlab controllers

norlab_controllers

percep3d_students

A package containing launch files and config files to do mapping with the Warthog

warthog_mapping

norlab_scripts

A node that estimates IMU poses based on ICP poses and accelerometer measurements

imu_odom

A node for converting nav_msgs/Odometry messages to geometry_msgs/PoseStamped messages

odom_to_pose_converter

Driver for the ICM-20948 IMU

ros2_icm20948

A set of scripts to convert rosbags into human-readable data

rosbag_extractor

Main repo for the 2024 GLO-3002 class

libpointmatcher-server

Vue

theodolite_node_msgs

Message definition for the theodolite_node package

Ros package used to compute lidar visibility.

ros_lidar_visibility

Containerized development workflow for NorLab perception or control projects leveraging docker and nvidia-docker technology.

dockerized-ROS4percept3D

Shell

dockerized-norlab

Shell

norlab_dense_mapper

Field Report for the SNOW project Lidar Teach and Repeat in a subarctic forest.

publication_FR2021_DominicBaril

norlab_dense_mapper_ros

NorLab_MPPI

global_map_builder

node that subscribes to two point cloud topics, assembles them and publishes the result in a new topic.

norlab_scan_assembler

marmotte_mapping

Python scripts for the penalized icp project. The goal is to add constaint from other sensors (IMU, GPS, etc.) which affect the ICP minimization.

test_penalized_icp

SDK needed for the radar to be functional

iasdk_navtech_radar

ROS package to estimate body angular velocities under saturated gyroscope measurements.

saturated_gryo_speed_estimation