utiasSTARS/learned_scale_recovery

Stars
47
Rank 604,252 (Top 12 %)
Language
Python
Created over 4 years ago
Updated over 3 years ago

utiasSTARS/learned_scale_recovery

utiasSTARS

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Accompanying code for 'Self-Supervised Scale Recovery for Monocular Visual Odometry'

pykitti

Python tools for working with KITTI data.

liegroups

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

bingham-rotation-learning

A Smooth Representation of SO(3) for Deep Rotation Learning with Uncertainty.

Jupyter Notebook

msckf-swf-comparison

MATLAB code and data for our CRV 2015 paper

GraphIK

A library for solving inverse kinematics with graphical models and distance geometry.

pyshoe

An open source foot-mounted INS accompanied by a comprehensive inertial dataset.

pyslam

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

dpc-net

Deep Pose Correction for Visual Localization

certifiable-calibration

Certifiably globally optimal extrinsic calibration for sensors providing egomotion estimates.

PhoenixDrone

Open-Source Releases of the Phoenix Tail-sitter Drone Project

cat-net

Canonical Appearance Transformations

ss-dpc-net

Supporting Code for "Self-Supervised Deep Pose Corrections for Robust Visual Odometry"

sun-bcnn

Bayesian CNN Sun Detector

enav-planetary-dataset

Energy-Aware Planetary Navigation Dataset

sos-rotation-averaging

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

lfgp

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

pyb-sim-models

PyBullet simulation models repository

sos-ik

Inverse kinematics using sum of squares optimization.

tightly-coupled-SfM

matchable-image-transforms

Learning Matchable Image Transformations

manipulator-learning

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

cslam-resource

Phoenix-Simulink

Phoenix Tailsitter MATLAB Simulink Models

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.

so3_learning

Learning deep probabilistic estimates of SO(3)

learned-camera-controller

visual-haptic-dynamics

Visual-Haptic Latent Dynamics

Jupyter Notebook

multiview-manipulation

Seeing All the Angles: Learning Multiview Manipulation Policies for Contact-Rich Tasks from Demonstrations

Jupyter Notebook

generative-graphik

Generative and Graphical Inverse Kinematics

PX4-PhoenixDrone

PX4 Source Code for Phoenix Tail-sitter

ceres-slam

A Ceres-based SLAM system.

robust-latent-srl

Heteroscedastic Uncertainty for Robust Generative Latent Dynamics

panda-rl-envs

Reinforcement Learning on a Panda Manipulator using FAIR's Polymetis

vpace

Scripts for running VPACE experiments.

ROB498-support

Materials for ROB498 Capstone Design Course.

ROB498-flight

ROB498 flight software repository (for Jetson, etc.).

panda-polymetis

Tools for working with a panda robot using FAIR's polymetis library.

transform-utils

Common SO3 and SE3 functionalities that can be used across repos.

ros-np-tools

A set of reusable functions and classes for reducing boilerplate ROS and related numpy code.

ALLO

The Anomaly Localization in Lunar Orbit (ALLO) data generation code and benchmark evaluation

thing-gym-ros

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

Phoenix-MCAD

Mechanical CAD files for construction of Phoenix Tailsitter

PhoenixDrone-sitl_gazebo

Gazebo Plugins for SITL Simulation with Phoenix Drone