Rock SLAM

Localization and mapping algorithms in the Robot Construction Kit (Rock)

Pinned Repositories

slam-envire
Generic map representation and manipulation library This library represents different type of maps and the relationships between all the frames these maps are expressed in. It also includes algorithms to manipulate these maps (for instance ICP for alignment) and convert between the available representations.
Language:C++2 11 110
slam-graph_slam
This package includes wrapper classes for graph optimization packages, like e.g. HogMan. Its meant to provide a common interface for different optimization libraries.
Language:C++3 12 05
slam-mtk
MTK is a toolkit that provides easy mechanisms to enable arbitrary algorithms to operate on manifolds. Forked from https://openslam.org
Language:C++5 13 16
slam-odometry
This package contains a collection of odometry classes and configuration types, which calculate the relative movement of the robot depending on a change in the state of the robots actuators. Different robot classes like e.g. wheel or legged systems are covered here.
Language:C++3 12 14
slam-orogen-uwv_kalman_filters
A collection of filters used in the underwater domain
Language:C++35
slam-pose_ekf
This library provides a basic, EKF based, implementation for a pose estimator that is able to fuse IMU, odometry and global positioning information (GPS)
Language:C++41 12 018
slam-pose_estimation
Filter based non-linear robot pose and velocity estimation using an arbitrary number of state measurements
Language:C++6 13 16
slam-quater_ikf
This filter is concerned with orientation estimation using inertial and magnetic sensors. A quaternion indirect Kalman filter structure is used. Magnetic sensor output is used only for yaw angle correction. Accelerometers for pitch and roll angles correction
Language:C++10 11 07
slam-quater_ukf
A quaternion unscented kalman filter structure is used. This is based on an unscented variant of a Kalman filter. The filter use the multiplicative quaternion approach, which means that the quaternion in the system perform incremental steps and is set to zero at each filter loop. This approach avoids quaternion renormalization. Also the filter uses the gyroscopes model consisted by random walk (white noise) and rate random walk. Ultimately, any attitude sensor can be used in the measurement step and more than one if available.
Language:C++3 12 04
slam-uwv_kalman_filters
A collection of filters used in the underwater domain
Language:C++2 13 05

Rock SLAM's Repositories

rock-slam/slam-pose_ekf
This library provides a basic, EKF based, implementation for a pose estimator that is able to fuse IMU, odometry and global positioning information (GPS)
Language:C++41 12 018
rock-slam/slam-quater_ikf
This filter is concerned with orientation estimation using inertial and magnetic sensors. A quaternion indirect Kalman filter structure is used. Magnetic sensor output is used only for yaw angle correction. Accelerometers for pitch and roll angles correction
Language:C++10 11 07
rock-slam/slam-pose_estimation
Filter based non-linear robot pose and velocity estimation using an arbitrary number of state measurements
Language:C++6 13 16
rock-slam/slam-mtk
MTK is a toolkit that provides easy mechanisms to enable arbitrary algorithms to operate on manifolds. Forked from https://openslam.org
Language:C++5 13 16
rock-slam/slam-graph_slam
This package includes wrapper classes for graph optimization packages, like e.g. HogMan. Its meant to provide a common interface for different optimization libraries.
Language:C++3 12 05
rock-slam/slam-odometry
This package contains a collection of odometry classes and configuration types, which calculate the relative movement of the robot depending on a change in the state of the robots actuators. Different robot classes like e.g. wheel or legged systems are covered here.
Language:C++3 12 14
rock-slam/slam-orogen-uwv_kalman_filters
A collection of filters used in the underwater domain
Language:C++35
rock-slam/slam-quater_ukf
A quaternion unscented kalman filter structure is used. This is based on an unscented variant of a Kalman filter. The filter use the multiplicative quaternion approach, which means that the quaternion in the system perform incremental steps and is set to zero at each filter loop. This approach avoids quaternion renormalization. Also the filter uses the gyroscopes model consisted by random walk (white noise) and rate random walk. Ultimately, any attitude sensor can be used in the measurement step and more than one if available.
Language:C++3 12 04
rock-slam/slam-envire
Generic map representation and manipulation library This library represents different type of maps and the relationships between all the frames these maps are expressed in. It also includes algorithms to manipulate these maps (for instance ICP for alignment) and convert between the available representations.
Language:C++2 11 110
rock-slam/slam-orogen-orientation_estimator
Rock module/task in order to estimate the orientation or attitude of a rigid body.
Language:C++2 13 22
rock-slam/slam-uwv_kalman_filters
A collection of filters used in the underwater domain
Language:C++2 13 05
rock-slam/slam-orogen-graph_slam
Graph based SLAM module
Language:C++13
rock-slam/slam-orogen-localization
Orogen module which performs localisation in a known map using icp.
Language:C++1 12 03
rock-slam/slam-orogen-pcl
Orocos support for PCL (Point CLoud Library) types
Language:C++1 6 02
rock-slam/slam-orogen-pose_estimation
Filter based non-linear robot pose and velocity estimation using an arbitrary number of state measurements.
Language:C++1 12 06
rock-slam/slam-polygonnet
This is the triangular mesh library implementation described in following paper "Terrainrekonstruktion aus Stereodaten von unterschiedlichen Posen (Malte Wirkus, 2010)"
Language:C++1 11 0
rock-slam/external-libply
A library for loading ply files.
Language:Shell11 4
rock-slam/slam-eslam
Implementation of the embodied SLAM algorithm
Language:C++11 01
rock-slam/slam-orogen-envire
orogen module to build up and environment from sensor input data.
Language:C++1
rock-slam/slam-orogen-eslam
oroGen integration of the embodied SLAM library, slam/eslam
Language:Ruby11 0
rock-slam/slam-orogen-gmapping
Orogen module for the gmapping library from openslam (https://openslam.org/gmapping.html) by Grisetti, Stachniss and Burgard.
Language:C++1
rock-slam/slam-orogen-local_mapper
A simple local mapper that acumulates scans in a given frame and project them into a MLS-Grid
Language:C++12 01
rock-slam/slam-orogen-north_seeker
Small orogen module for estimating true north from high accuracy gyro samples
Language:C++3
rock-slam/slam-orogen-odometry
The odometry task take some form of generic input type, like e.g. environment contact points and generate a pose delta based on this information.
Language:C++5
rock-slam/slam-orogen-simple_pose_integrator
Provides a constant pose update of an irregular or low frequent input pose (e.g. from a slam), given a high frequent delta pose (e.g. from an odometry)
Language:C++6 0
rock-slam/slam-orogen-terrain_estimator
oroGen integration of the terrain_estimator library
Language:Ruby
rock-slam/slam-orogen-threed_odometry
Rock Component for 3D Wheel/Leg Mobile Robots Odometry library
Language:C++2
rock-slam/slam-orogen-tilt_scan
orogen module for post processing log data. Currently very asguard specific.
Language:C++3
rock-slam/slam-terrain_estimator
Implementation of a slip-based method to classify the type of terrain a system is on
Language:C++11 0
rock-slam/slam-threed_odometry
3D Wheeled and Legged Mobile Robots Odometry library
Language:C++1