Discover uzh-rpg/VAPAR Open Source project

An Open Flexible Quadrotor Simulator

852

flightmare

Repository Containing the Code associated with the Paper: "Learning High-Speed Flight in the Wild"

756

agile_autonomy

Repository relating to the CVPR21 paper TimeLens: Event-based Video Frame Interpolation

577

rpg_timelens

Quadrotor control framework developed by the Robotics and Perception Group

566

rpg_quadrotor_control

This repository contains an implementation of REMODE (REgularized MOnocular Depth Estimation), as described in the paper.

494

rpg_open_remode

ESIM: an Open Event Camera Simulator

480

rpg_esim

476

agilicious

Agile flight done right!

TeX

424

vilib

CUDA Visual Library by RPG

Code for the paper Dronet: Learning to Fly by Driving

399

rpg_public_dronet

Policy Search for Model Predictive Control with Application to Agile Drone Flight

395

high_mpc

rpg_dvs_ros

rpg_e2vid

Code for the paper "High Speed and High Dynamic Range Video with an Event Camera" (T-PAMI, 2019).

Public code for "Data-Efficient Decentralized Visual SLAM"

275

dslam_open

MATLAB

270

rpg_svo_example

Example node to use the SVO Installation.

Model Predictive Control for Quadrotors with extension to Perception-Aware MPC

268

rpg_mpc

248

rpg_vid2e

Open source implementation of CVPR 2020 "Video to Events: Recycling Video Dataset for Event Cameras"

Tensorflow port of https://github.com/Relja/netvlad

235

netvlad_tf_open

Open source code for "Ultimate SLAM? Combining Events, Images, and IMU for Robust Visual SLAM in HDR and High-Speed Scenarios" RA-L 2018

225

rpg_ultimate_slam_open

Code for the project Deep Drone Acrobatics.

225

deep_drone_acrobatics

Information Field for Perception-aware Planning

178

rpg_information_field

data_driven_mpc

rpg_vision-based_slam

This repo contains the code of the paper "Continuous-Time vs. Discrete-Time Vision-based SLAM: A Comparative Study", RA-L 2022.

Visual-Inertial Model-based State and External Forces Estimator

163

vimo

Implementation of EVO (RA-L 17)

162

rpg_dvs_evo_open

Repository relating to "Data-driven Feature Tracking for Event Cameras" (CVPR, 2023, Award Candidate).

160

deep_ev_tracker

Vision-based quadrotor fault-tolerant flight controller.

143

fault_tolerant_control

Repo for learning event representations

139

rpg_event_representation_learning

Code for the paper "EMVS: Event-based Multi-View Stereo" (IJCV, 2018)

135

rpg_emvs

A monocular pose estimation system based on infrared LEDs

129

rpg_monocular_pose_estimator

Code for the paper "EKLT: Asynchronous, Photometric Feature Tracking using Events and Frames" (IJCV'19)

128

rpg_eklt

Developing and Comparing Vision-based Algorithms for Vision-based Agile Flight

126

agile_flight

CVPRW 2021: How to calibrate your event camera

124

e2calib

Vision-Kit provides some tools for your vision/robotics project.

118

rpg_vikit

Code for the paper "Event-based Asynchronous Sparse Convolutional Networks" (ECCV, 2020).

110

rpg_asynet

Code for Learning Monocular Dense Depth from Events paper (3DV20)

105

rpg_e2depth

This repository contains the active 3D reconstruction library described in the papers: "An Information Gain Formulation for Active Volumetric 3D Reconstruction" by Isler et al. (ICRA 2016) and "A comparison of volumetric information gain metrics for active 3D object reconstruction" by Delmerico et al. (Autonomous Robots, 2017).

105

rpg_ig_active_reconstruction

FAST corner detector by Edward Rosten

103

fast

This repository provides the code used to implement the framework to provide deep learning models with total uncertainty estimates as described in "A General Framework for Uncertainty Estimation in Deep Learning" (Loquercio, Segù, Scaramuzza. RA-L 2020).

102

deep_uncertainty_estimation

aegnn

rpg_corner_events

Fast Event-based Corner Detection

Event-Based Angular Velocity Regression with Spiking Networks

101

snn_angular_velocity

DSEC

Build bootstrapping for the Event-aided Direct Sparce Odometry (EDS)

eds-buildconf

Shell

IROS2019-FPV-VIO-Competition

FPV Drone Racing VIO competition.

rpg_davis_simulator

Simulate a DAVIS camera from synthetic Blender scenes

E-RAFT

A Framework for Zero-Shot Sim2Real Drone Racing

sim2real_drone_racing

This repo contains the code of the paper "Learned Inertial Odometry for Autonomous Drone Racing", RA-L 2023.

learned_inertial_model_odometry

Code and datasets for the paper "Combining Events and Frames using Recurrent Asynchronous Multimodal Networks for Monocular Depth Prediction" (RA-L, 2021)

rpg_ramnet

Matching Features Without Descriptors: Implicitly Matched Interest Points

imips_open

Package for performing analysis on event-based feature trackers.

rpg_feature_tracking_analysis

rpg_svo_pro_gps

SVO Pro with GPS

Code for the project Minimum-Time Quadrotor Waypoint Flight in Cluttered Environments

sb_min_time_quadrotor_planning

AutoTune: Controller Tuning for High-Speed Flight

mh_autotune

Code for "Event-based Agile Object Catching with a Quadrupedal Robot", Forrai et al. ICRA'23

rpg_image_reconstruction_from_events

MATLAB

event-based_object_catching_anymal

Implementation of "Recurrent Vision Transformers for Object Detection with Event Cameras". CVPR 2023

RVT

Repository relating to "ESS: Learning Event-based Semantic Segmentation from Still Images" (ECCV, 2022).

ess

Python scripts and functions to work with COLMAP

colmap_utils

Torque Control for the KUKA youBot Arm

rpg_youbot_torque_control

rpg_time_optimal

Time-Optimal Planning for Quadrotor Waypoint Flight

Patch for adding an omnidirectional camera model into Blender (Cycles)

rpg_blender_omni_camera

rpg_vi_cov_transformation

Covariance Transformation for Visual-inertial Systems

line_tracking_with_event_cameras

Succinct Interest Points from Unsupervised Inlierness Probability Learning

sips2_open

Repository relating to "Contrastive Initial State Buffer for Reinforcement Learning" (ICRA, 2024).

cl_initial_buffer

Repo to accompany the UZH FPV dataset

uzh_fpv_open

Open source implementation of RAL 2022 "Bridging the Gap between Events and Frames through Unsupervised Domain Adaptation"

rpg_ev-transfer

ESL: Event-based Structured Light

ESL

FPV Drone Racing VIO Competition

IROS2020-FPV-VIO-Competition

flightmare_unity

authorship_attribution

MATLAB Implementation of Event Lifetime Estimation

rpg_event_lifetime

MATLAB

slam-eds

Events-aided Sparse Odometry: this is the library for the direct approach using events and frames

Fast detector with NEON accelerations

fast_neon

Open-source code for ICRA'19 paper Bryner et al.

direct_event_camera_tracker

Dataset Download page for the BS-ERGB dataset introduced in Time Lens++ (CVPR'22)

timelens-pp

ICRA2020-FPV-VIO-Competition

FPV Drone Racing VIO competition.

rpg_quadrotor_common

Common functionality for rpg_quadrotor_control

Flexible Animation for Flying Robots

flymation

ze_oss

RPG fork of ze_oss

Event-aided Direct Sparse Odometry: full system in a Rock Task component

slam-orogen-eds

Repository of the CVPR18 paper "Event-based Vision meets Deep Learning on Steering Prediction for Self-driving Cars"

cvpr18_event_steering_angle

rpg_mpl_ros

Code for assembling and visualizing DSEC data for the detection task.

dsec-det

ESfP: Event-based Shape from Polarization (CVPR 2023)

esfp

GPIO and ADC functionality for single board computers

rpg_single_board_io

A catkin wrapper for assimp

assimp_catkin

Catkinization of https://sourceforge.net/projects/aruco/

aruco_catkin

dodgedrone_simulation

power_line_tracking_with_event_cameras

pangolin_catkin

Catkin wrapper for https://github.com/dorian3d/DLib

dlib_catkin