Henry's repositories
PointNetGPD
PointNetGPD实验复现与注释
Reconstruction
轮轨姿态反映着列车运行中轮与轨的接触关系，掌握高铁轮轨姿态是保障高铁安全运营的基础。基于计算机视觉技术的无接触方法可以通过采集运营状态下的轮轨图像，通过三维重建获取轮轨实时姿态。由于高铁运行速度快，轮轨表面光滑，给基于特征点提取的三维重建 (3D Reconstruction) 带来了极大挑战。本项目采用基于空间编码（Space Codification）的编码结构光（coded structured light）的方法，将单幅编码图案（one-shot）投影在轮轨表面，提高特征点的提取和识别精度，并将 De Bruijn 分析与小波变换（wavelet transform）分析相结合，增加了基于特征点的点云提取稠密度，从而实现了单次投影的点云稠密重建。项目完成了从半径95mm的球体提取17W条以上的点云 (Point Cloud) 数据，半径误差0.678mm，实现了对铁轨等多个物体的三维重建，完成了结构光三维重建软件开发，提供了基于主动视觉的三维重建和点云数据可视化展示、编辑的平台。
dynamic_graph_bridge
Dynamic graph bindings for ROS
gpd
Detect 6-DOF grasp poses in point clouds
guyueclass
古月学院课程代码
hpp-gui
Qt based GUI for HPP project.
hybrid-astar-planner
Hybrid A* Path Planner
kalman_filters
A C++ implementation of the Kalman filter and its extension, the extended Kalman filter (EKF) and the unscented Kalman filter (UKF) using Eigen.
Mask_RCNN
Mask R-CNN for object detection and instance segmentation on Keras and TensorFlow
mav_active_3d_planning
Modular framework for online informative path planning.
MEKF_MAME
Modified Extended Kalman Filter with generalized exponential Moving Average and dynamic Multi-Epoch update strategy (MEKF_MAME)
MPC-CBF
"Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function" by J. Zeng, B. Zhang and K. Sreenath https://arxiv.org/abs/2007.11718
myCobot
myCobot is the World's Smallest Collaborative Robot Arm.
mycobot_moveit
Unofficial myCobot moveit repositiry
Open3DGen
Open-Source software for reconstructing textured 3D models from RGB-D images
PythonRobotics
Python sample codes for robotics algorithms.
Risk-Bounded-Continuous-Time-Trajectory-Planning
RSS 2021: Convex Risk Bounded Continuous-Time Trajectory Planning in Uncertain Nonconvex Environments
ruckig
Online Trajectory Generation. Real-time. Time-optimal. Jerk-constrained.
space_filling_forest_star
Space-Filling Forest* for milti-goal path planning
spline
c++ cubic spline library
topp_ros
The topp ros repository provides with TOPP and TOPP-RA interface to ROS.
toppra
robotic motion planning library
tracking_pid
PID controller following a moving carrot
traj_gen
Optimal trajectory generation library given equality and inequality constraints (C++/Matlab)
trajectory_planning_helpers
Useful functions used for path and trajectory planning at TUM/FTM
vision-based-robotic-grasping
Related papers and codes for vision-based robotic grasping
voxblox-plusplus
A volumetric object-level semantic mapping framework.