Repositories list

• slam-envire

  Public
  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.

  C++

  •10•2•0•1•Updated Feb 29, 2024Feb 29, 2024

• slam-orogen-odometry

  Public
  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.

  C++

  •5•0•0•1•Updated Jan 26, 2024Jan 26, 2024

• slam-orogen-simple_pose_integrator

  Public
  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)

  C++

  •0•0•0•0•Updated Oct 6, 2023Oct 6, 2023

• slam-orogen-pose_estimation

  Public
  Filter based non-linear robot pose and velocity estimation using an arbitrary number of state measurements.

  C++

  •6•1•0•0•Updated Aug 21, 2023Aug 21, 2023

• slam-mtk

  Public
  MTK is a toolkit that provides easy mechanisms to enable arbitrary algorithms to operate on manifolds. Forked from https://openslam.org

  C++

  •6•5•0•0•Updated Aug 21, 2023Aug 21, 2023

• slam-pose_estimation

  Public
  Filter based non-linear robot pose and velocity estimation using an arbitrary number of state measurements

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •6•6•0•0•Updated Jul 19, 2023Jul 19, 2023

• slam-odometry

  Public
  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.

  C++

  •

  Other

  •4•3•0•0•Updated Sep 9, 2022Sep 9, 2022

• slam-orogen-pcl

  Public
  Orocos support for PCL (Point CLoud Library) types

  C++

  •2•1•0•1•Updated Aug 3, 2022Aug 3, 2022

• slam-orogen-tilt_scan

  Public
  orogen module for post processing log data. Currently very asguard specific.

  C++

  •3•0•0•1•Updated Mar 2, 2022Mar 2, 2022

• slam-uwv_kalman_filters

  Public
  A collection of filters used in the underwater domain

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •5•2•0•0•Updated Jun 4, 2021Jun 4, 2021

• slam-orogen-uwv_kalman_filters

  Public
  A collection of filters used in the underwater domain

  C++

  •5•3•1•0•Updated May 26, 2021May 26, 2021

• external-libply

  Public
  A library for loading ply files.

  Shell

  •

  GNU General Public License v2.0

  •0•0•4•0•Updated Aug 11, 2020Aug 11, 2020

• slam-orogen-localization

  Public
  Orogen module which performs localisation in a known map using icp.

  C++

  •3•1•0•0•Updated Dec 16, 2019Dec 16, 2019

• slam-orogen-local_mapper

  Public
  A simple local mapper that acumulates scans in a given frame and project them into a MLS-Grid

  C++

  •1•0•0•1•Updated Apr 4, 2019Apr 4, 2019

• slam-quater_ikf

  Public
  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

  C++

  •

  Other

  •7•10•0•1•Updated Oct 16, 2018Oct 16, 2018

• slam-orogen-envire

  Public
  orogen module to build up and environment from sensor input data.

  C++

  •1•0•0•1•Updated Mar 7, 2018Mar 7, 2018

• slam-orogen-threed_odometry

  Public
  Rock Component for 3D Wheel/Leg Mobile Robots Odometry library

  C++

  •2•0•0•0•Updated Feb 1, 2018Feb 1, 2018

• slam-orogen-gmapping

  Public
  Orogen module for the gmapping library from openslam (https://openslam.org/gmapping.html) by Grisetti, Stachniss and Burgard.

  C++

  •1•0•0•0•Updated Oct 14, 2017Oct 14, 2017

• slam-terrain_estimator

  Public
  Implementation of a slip-based method to classify the type of terrain a system is on

  C++

  •0•0•0•0•Updated Oct 14, 2017Oct 14, 2017

• slam-orogen-orientation_estimator

  Public
  Rock module/task in order to estimate the orientation or attitude of a rigid body.

  C++

  •2•2•1•0•Updated Apr 9, 2017Apr 9, 2017

• slam-orogen-graph_slam

  Public
  Graph based SLAM module

  C++

  •3•1•0•0•Updated Sep 27, 2016Sep 27, 2016

• slam-graph_slam

  Public
  This package includes wrapper classes for graph optimization packages, like e.g. HogMan. Its meant to provide a common interface for different optimization libraries.

  C++

  •5•3•0•0•Updated Sep 27, 2016Sep 27, 2016

• slam-threed_odometry

  Public
  3D Wheeled and Legged Mobile Robots Odometry library

  C++

  •

  Other

  •1•0•0•0•Updated Sep 9, 2016Sep 9, 2016

• slam-orogen-eslam

  Public
  oroGen integration of the embodied SLAM library, slam/eslam

  Ruby

  •0•0•0•0•Updated Sep 29, 2015Sep 29, 2015

• slam-orogen-terrain_estimator

  Public
  oroGen integration of the terrain_estimator library

  Ruby

  •0•0•0•0•Updated Sep 29, 2015Sep 29, 2015

• slam-orogen-north_seeker

  Public
  Small orogen module for estimating true north from high accuracy gyro samples

  C++

  •3•0•0•0•Updated Sep 29, 2015Sep 29, 2015

• slam-quater_ukf

  Public
  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 u…

  C++

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  Other

  •4•2•0•0•Updated Sep 29, 2015Sep 29, 2015

• slam-pose_ekf

  Public
  This library provides a basic, EKF based, implementation for a pose estimator that is able to fuse IMU, odometry and global positioning information (GPS)

  C++

  •18•41•0•0•Updated Sep 29, 2015Sep 29, 2015

• slam-polygonnet

  Public
  This is the triangular mesh library implementation described in following paper "Terrainrekonstruktion aus Stereodaten von unterschiedlichen Posen (Malte Wirkus, 2010)"

  C++

  •

  Other

  •0•0•0•0•Updated Sep 29, 2015Sep 29, 2015

• slam-eslam

  Public
  Implementation of the embodied SLAM algorithm

  C++

  •1•0•0•0•Updated Sep 29, 2015Sep 29, 2015