jgsimard/RustRobotics

RustRobotics

This package is a rust implementation of robotics algorithms. So far, the main source is the book Probabilistic Robotics. I plan to have algorithms implementations in the src folder and the algorithms use cases in the examples folder. I plan to have python bindings using pyo3/maturin. I am also implementing the algorithms in python using JAX in this repo.

Table of Contents

• RustRobotics
  • Table of Contents
  • Localization
    • Extended Kalman Filter + Unscented Kalman Filter + Particle Filter
    • EKF/PF With Landmarks
  • Mapping
    • Pose Graph Optimization
  • Todo
  • Sources

Localization

Extended Kalman Filter + Unscented Kalman Filter + Particle Filter

EKF, UKF, PF, Example

cargo run --example localization

EKF/PF With Landmarks

Example

cargo run --example localization_landmarks

Mapping

Pose Graph Optimization

This algorithm uses the sparse solver in Russel which wraps SuiteSparse so follow the installation instructions. Algorithm, Example, Source

cargo run --example pose_graph_optimization

Todo

• Bayesian Filters
  • Information filter
  • Histogram filter
• Pose Graph Optimization
  • PGO on manifold (3D)
  • Robust Kernels / Adaptive Kernels
• Mapping
  • Occupancy Grid
  • Iterative Closest Point
  • EKF-SLAM
  • FastSLAM 1.0
  • FastSLAM 2.0
• Camera Calibration
  • Direct Linear Transform (DLT)
  • Zhang’s Method
  • Projective 3-Point (P3P)
• Bundle Adjustement
• Triangulation
• Optimal Control
  • LQR
  • LQG
• etc

Sources

• Probabilistic Robotics
• PythonRobotics
• Underactuated Robotics
• Probabilistic-Robotics-Algorithms
• A tutorial on Graph-Based SLAM
• A tutorial on SE(3) transformation parameterizations and on-manifold optimization
• Courses from Dr. Cyrill Stachniss

Compilation issues

For plotters

sudo apt install fontconfig libfontconfig libfontconfig1-dev

For Russel

sudo apt install liblapacke-dev libmumps-seq-dev libopenblas-dev libsuitesparse-dev