Intelligent Vision and Automation Laboratory (IVALab)

gf_orb_slam2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities

simData

The dataset of our RA-L work 'Learning Affordance Segmentation for Real-world Robotic Manipulation via Synthetic Images'

GraspKpNet

KGN

[ICRA 2023 & IROS 2023] Code release for Keypoint-GraspNet (KGN) and Keypoint-GraspNet-V2 (KGNv2)

meta_ClosedLoopBench

Meta Package for Closed-Loop SLAM Benchmarking in Gazebo/ROS

NavBench

Benchmark Worlds for Testing Autonomous Navigation Algorithms

simData_imgSaver

This repo contains tools to save images of simulated objects in Gazebo for affordance segmentation

ORB_Data

A collection of settings file (*.yaml) used for GF-ORB-SLAM evaluation

mmf

Symbolic Goal Learning for Robotic Manipulation

WDiscOOD

[ICCV2023] Official Implementation of ICCV 2023 paper, WDiscOOD: Out-of-Distribution Detection via Whitened Linear Discriminant Analysis

affordanceNet_Context

me_sgl

Manipulation Experiment for Symbolic Goal Learning in a hybrid, modular framework for Human Instruction Following

ethzasl_msf

MSF - Modular framework for multi sensor fusion based on an Extended Kalman Filter (EKF)

gazebo_turtlebot_simulator

Closed-Loop SLAM Benchmarking Simulator based on Gazebo/ROS

Scene_Graph_Parsing

Pretraining scene graph parsing tasks for symbolic goal learning of robotic manipulation

BioLoco

Source for website associated to biologically-inspired locomotion research.

cartographer_ros

Provides ROS integration for Cartographer.

Controls

IVALab research efforts in controls. Mostly about adaptation and learning in controls.

delayed_odometry

gazebo_utils

hector_slam

hector_slam contains ROS packages related to performing SLAM in unstructed environments like those encountered in the Urban Search and Rescue (USAR) scenarios of the RoboCup Rescue competition.

ivaDynamixel2.0

ROBOTIS Dynamixel SDK (Protocol1.0/2.0)

mat_from_rosbag

odometry_converter

Optragen

Matlab toolbox for parsing optimal control problems into nonlinear programming problem.

p3at_tutorial

Package demo for ROS navigation in Gazebo usingo Pioneer 3AT.

RoboSLAM

IVALab research efforts on SLAM (Simultaneous Localization and Mapping)

slam_toolbox

Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS

tsrb_world

VisNav

IVALAb Research Efforts on Vision-in-the-Loop Navigation