utiasSTARS/tightly-coupled-SfM

Stars
14
Rank 1,437,885 (Top 29 %)
Language
Python
Created almost 3 years ago
Updated almost 3 years ago

utiasSTARS/tightly-coupled-SfM

utiasSTARS

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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"

learned_scale_recovery

Accompanying code for 'Self-Supervised Scale Recovery for Monocular 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.

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