机器人

第十四届全国大学生智能汽车竞赛室外光电竞速创意赛,ART-Racecar ros 激光雷达+IMU建图导航

移动机器人 VREP下仿真 ros控制

机器人环境软件安装脚本 ceres tensorflow ros caffe vrep eigen cudnn and cuda

webots 便携式机器人仿真平台

V-Rep、Open HRP、Gazebo、Webots这四种机器人仿真软件各自有何特点和优缺点？

    Webots 貌似没有V-REP易用度高（仅仅是第一感觉），但是功能上应该至少跟V-REP相当甚至更强，
          感觉上Webots跟仿真交互的编程方式更紧密和灵活。
          开源免费之后的Webots在License上比V-REP更宽松.
          
    Gazebo相比前两者还是差了些.
    OpenHRP主要是做humanoid仿真的.
    Gazebo在学习ROS的时候可能会用到，比如跑一跑Turtlebo的仿真，对于学习还是很有帮助的。
    VREP对用户友好很多，文档齐全，EDU版本也没有功能限制，还是跨平台的，所以初学者容易上手很多。
    

以优达学城 机器人人工智能课程为起点 逐渐丰富内容

probabilistic robotics 概率机器人编程练习题 matlab

ros下 基于激光雷达的 移动机器人小车 代码

ros下 基于激光雷达的 动态环境下的 导航 路径规划 避障

路径跟踪 c++实现

其他参考课程

CSE 571: Robotics

汉堡大学 移动机器人 Introduction to Mobile Robotics Kinematics Sensors Vehicle localization Map building SLAM Path planning Exploration of unknown terrain

弗莱堡课程Robot Mapping - WS 2013/14

Occupancy Grid Mapping 占用栅格地图构建算法实现《概率机器人》第9章

CSE598C Vision-Based Tracking 课程 滤波+跟踪

粒子滤波 A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking

Udacity_Bot 机器人定位路径规划仿真 两轮差分底盘 自适应蒙特卡洛定位 Gazebo仿真

(PDF) Principles of Robot Motion

树莓派+Arduino+TensorFlow：搭建图像识别小车

高程制图-粗糙地形导航

网格地图——移动机器人地图的通用栅格地图库

自由步态——腿式机器人多功能控制的体系结构

机器人运动学与动力学

ROS wrappers for kindr 定制的ros系统

粗糙地形导航的建图 移动 估计

一种高度移动和动态的四足机器人

Robotics 须知　

相关参考 Relevant Awesome Lists

• ahundt/awesome-robotics

• Kiloreaux/awesome-robotics 收集了大量机器人入门的资料，包含课程、电子书、软件、期刊、行业竞赛和开源库等等 - Learn about Robotics.

• Robotics Libraries　列举了大量非常棒的机器人开源库和软件，并标出了开源库的受欢迎程。 - Another list of awesome robotics libraries.

• Computer Vision 计算机视觉相关的课程、电子书、论文、软件、数据库、教程、资源以及博客等。

• Deep Learning 深度学习 - Neural networks.

  • TensorFlow 教程、模型、库、视频、论文、博客 - Library for machine intelligence.
  • Papers引用次数最多的深度学习论文 - The most cited deep learning papers.

• Deep Vision 深度学习计算机视觉 - Deep learning for computer vision

• Data Visualization 数据可视化 - See what your robot is doing with any programming language.

Simulators 仿真器 模拟器

• V-REP - Create, Simulate, any Robot.
• Microsoft Airsim 微软开源的一款基于虚幻引擎的模拟器，用于促进自动驾驶技术的研究，为无人驾驶提供真实的模拟环境、动力等等 - Open source simulator based on Unreal Engine for autonomous vehicles from Microsoft AI & Research.
• Bullet Physics SDK 实时碰撞检测和多物理环境模拟，用于虚拟现实的多物理场模拟、适用于VR、游戏、视觉效果、机器人技术、机器学习等 - Real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc. Also see pybullet.

可视化Visualization, Video, Display, and Rendering

• Pangolin　可视化,一种轻量级的便携式快速开发库，用于管理OpenGL显示/交互和提取视频输入 - A lightweight portable rapid development library for managing OpenGL display / interaction and abstracting video input.
• PlotJuggler - Quickly plot and re-plot data on the fly! Includes optional ROS integration.
• Data Visualization - A list of awesome data visualization tools.

机器学习　Machine Learning

TensorFlow related

• Keras 深度学习库，包含卷积神经网络，循环神经网络等，使用TensorFlow或者Theano框架。 - Deep Learning library for Python. Convnets, recurrent neural networks, and more. Runs on TensorFlow or Theano.
• keras-contrib 社区贡献 - Keras community contributions.
• TensorFlow - An open-source software library for Machine Intelligence.
• recurrentshop 使用Keras构建复杂循环神经网络的框架 - Framework for building complex recurrent neural networks with Keras.
• tensorpack 基于TensorFlow的神经网络工具箱 - Neural Network Toolbox on TensorFlow.
• tensorlayer 适用于研究人员和工程师的深度学习与增强学习库 - Deep Learning and Reinforcement Learning Library for Researchers and Engineers.
• TensorFlow-Examples 为初学者提供的TensorFlow手册与实例 - TensorFlow Tutorial and Examples for beginners.
• hyperas 方便超参数优化，封装简单 - Keras + Hyperopt: A very simple wrapper for convenient hyperparameter optimization.
• elephas 使用Keras & Spark进行分布式深度学习 - Distributed Deep learning with Keras & Spark
• PipelineAI 端到端机器学习与人工智能平台，实时的Spark与Tensorflow数据通道 - End-to-End ML and AI Platform for Real-time Spark and Tensorflow Data Pipelines.
• sonnet 基于TensorFlow的Google Deepmind 应用程序接口,用以构建复杂的神经网络。 - Google Deepmind APIs on top of TensorFlow.
• visipedia/tfrecords - Demonstrates the use of TensorFlow's TFRecord data format.

图像分割 Image Segmentation

• tf-image-segmentation 基于Tensorflow 和TF-Slim 库的图像分割框架 - Image Segmentation framework based on Tensorflow and TF-Slim library.
• Keras-FCN

日志和消息 Logging and Messaging

• spdlog 超快的C++日志库 - Super fast C++ logging library.
• lcm 用于高带宽和低延迟的实时系统，实现轻量级通信和编组、消息传递和数据编组 - Lightweight Communications and Marshalling, message passing and data marshalling for real-time systems where high-bandwidth and low latency are critical.

跟踪 Tracking

• simtrack 一种基于仿真的跟踪框架 - A simulation-based framework for tracking.
• ar_track_alvar 用于ROS的AR标记跟踪库 - AR tag tracking library for ROS.
• artoolkit5 增强现实工具包，具有优秀的AR标签跟踪软件 - Augmented Reality Toolkit, which has excellent AR tag tracking software.

机器人操作系统 Robot Operating System (ROS)

• ROS - Main ROS website.
• ros2/design - Design documentation for ROS 2.0 effort.

正逆运动学　动力学　带约束最优化 Kinematics, Dynamics, Constrained Optimization

• jrl-umi3218/Tasks 使用了约束优化的机器人实时控制与运动学 库 - Tasks is library for real time control of robots and kinematic trees using constrained optimization.
• jrl-umi3218/RBDyn 提供一组用于刚体系统动力学建模的类和函数 - RBDyn provides a set of classes and functions to model the dynamics of rigid body systems.
• ceres-solver 求解有界约束和一般无约束优化问题的非线性最小二乘问题 - Solve Non-linear Least Squares problems with bounds constraints and general unconstrained optimization problems. Used in production at Google since 2010.
• orocos_kinematics_dynamics Orocos运动学和动力学的C++库 - Orocos Kinematics and Dynamics C++ library.
• flexible-collsion-library 在一对由三角形组成的几何模型执行三类临近查找，集成在ROS中 - Performs three types of proximity queries on a pair of geometric models composed of triangles, integrated with ROS.
• robot_calibration 用于ROS的通用机器人运动学标定 - generic robot kinematics calibration for ROS
• Kindr - Kinematics and Dynamics for Robotics 运动学和动力学 - Kindr ROS 校准 Calibration

• handeye-calib-camodocal 通用的机器人手眼标定 - generic robot hand-eye calibration.
• robot_calibration 用于ROS的通用的机器人运动学标定 - generic robot kinematics calibration for ROS
• kalibr用于ROS的摄像机和IMU标定 - camera and imu calibration for ROS

增强学习 Reinforcement Learning

• TensorForce - A TensorFlow library for applied reinforcement learning
• gqcnn 抓取规划 - Grasp Quality Convolutional Neural Networks (GQ-CNNs) for grasp planning using training datasets from the Dexterity Network (Dex-Net)
• Guided Policy Search 引导策略搜索(GPS)算法和基于线性二次高斯控制的轨迹优化，旨在帮助其他人在对已有工作理解、重用和构建。 - Guided policy search (gps) algorithm and LQG-based trajectory optimization, meant to help others understand, reuse, and build upon existing work.

传感器 设备 机械臂驱动 Drivers for Sensors, Devices and Arms

• libfreenect2 Windows Kinect V2与Xbox One设备开源驱动 - Open source drivers for the Kinect for Windows v2 and Xbox One devices.
• iai_kinect2 在ROS中使用Kinect One (Kinect v2)的工具 - Tools for using the Kinect One (Kinect v2) in ROS.
• grl 通用机器人技术库:用于Kuka iiwa和Atracsys FusionTrack跨平台驱动程序，具有可选的v-rep和ros驱动;同时也有跨平台手眼标定与工具提示标定。 - Generic Robotics Library: Cross platform drivers for Kuka iiwa and Atracsys FusionTrack with optional v-rep and ros drivers. Also has cross platform Hand Eye Calibration and Tool Tip Calibration.

数据集 Datasets

• pascal voc 2012 经典的参考图像分割/目标检测 数据库 - The classic reference image segmentation dataset.
• openimages Google庞大的ImageNet风格数据库 - Huge imagenet style dataset by Google.
• COCO 目标分割、关键点和许多其他外部数据库的链接 - Objects with segmentation, keypoints, and links to many other external datasets.
• cocostuff COCO附加的全场景分割，包括背景和注释 - COCO additional full scene segmentation including backgrounds and annotator.
• Google Brain Robot Data 谷歌 大脑包含抓取、推和浇注的机器人数据库 - Robotics datasets including grasping, pushing, and pouring.
• Materials in Context 23类真实图像的材料数据库 - Materials Dataset with real world images in 23 categories.
• Dex-Net 2.0 670万对合成点云和具有鲁棒性标签的抓取 - 6.7 million pairs of synthetic point clouds and grasps with robustness labels.

Dataset Collection 数据收集

• cocostuff 670万对合成点云和具有鲁棒性标签的抓取 - COCO additional full scene segmentation including backgrounds and annotator.

线性代数 几何学 Linear Algebra & Geometry

• Eigen 线性代数C++模板库，包含矩阵、向量、数值求解和相关算法 - Eigen is a C++ template library for linear algebra: matrices, vectors, numerical solvers, and related algorithms.
• Boost.QVM 用于Boost的四元数、向量、矩阵库 - Quaternions, Vectors, Matrices library for Boost.
• Boost.Geometry 包含可实例化的几何类，但是库用户也可以使用自定义的类 - Boost.Geometry contains instantiable geometry classes, but library users can also use their own.
• SpaceVecAlg 实现三维几何的空间向量代数，使用了Eigen3 线性代数库 - Implementation of spatial vector algebra for 3D geometry with the Eigen3 linear algebra library.
• Sophus (用于三维几何)的C++实现，使用了Eigen 李代数库 - C++ implementation of Lie Groups which are for 3D Geometry, using Eigen.

点云 Point Clouds

• libpointmatcher 一个“迭代最近点”的机器人库和二维/三维映射 - An "Iterative Closest Point" library robotics and 2-D/3-D mapping.
• Point Cloud Library (pcl)点云库(PCL)是一个独立的、大规模的、开放式的二维/三维图像和点云处理项目。 - The Point Cloud Library (PCL) is a standalone, large scale, open project for 2D/3D image and point cloud processing.

同时定位与建图 Simultaneous Localization and Mapping (SLAM)

• ElasticFusion 实时的密集视觉SLAM系统 - Real-time dense visual SLAM system.
• co-fusion 多目标实时分割、跟踪和融合，ElasticFusion的扩展 - Real-time Segmentation, Tracking and Fusion of Multiple Objects. Extends ElasticFusion.
• Google Cartographer 提供了实时的二维和三维SLAM系统，可以跨多个平台和传感器配置 - Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
• OctoMap 一个有效的基于概率三维映射框架，包含主要的OctoMap库， viewer octovis以及动态EDT3D. - An Efficient Probabilistic 3D Mapping Framework Based on Octrees. Contains the main OctoMap library, the viewer octovis, and dynamicEDT3D.
• ORB_SLAM2 实时SLAM，用于单眼、立体、RGB-D相机，包含循环检测与重定位功能 - Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities.
• 栅格地图 移动机器人导航 Grid Map – Universal grid map library for mobile robotic mapping