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<h1>ETH Zurich Autonomous Systems Lab</h1>
<p>Github page for the Autonomous Systems Lab, containing info and documentation about our open source projects.</p>
<p class="view"><a href="https://github.com/ethz-asl">View My GitHub Profile</a></p>
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<h1>
<a id="about-the-autonomous-systems-lab" class="anchor" href="#about-the-autonomous-systems-lab" aria-hidden="true"><span aria-hidden="true" class="octicon octicon-link"></span></a>About the Autonomous Systems Lab</h1>
<p>The <a href="http://www.asl.ethz.ch/">Autonomous Systems Lab</a> is part of the Mechanical Engineering department at ETH Zurich, under Prof. Roland Siegwart.</p>
<p>The main focus of the lab is autonomous robotic systems, including hardware, state estimation, perception, and planning.
A small subset of the software packages we've made available open-source are listed and described here.</p>
<h1>
<a id="open-source-projects" class="anchor" href="#open-source-projects" aria-hidden="true"><span aria-hidden="true" class="octicon octicon-link"></span></a>Open-Source Projects</h1>
<p>These projects are divided by general area. Note that not all of these are appropriate for every robot or application, please read each package's individual documentation.</p>
<h2>
<a id="state-estimation" class="anchor" href="#state-estimation" aria-hidden="true"><span aria-hidden="true" class="octicon octicon-link"></span></a>State Estimation</h2>
<p><a href="https://github.com/ethz-asl/maplab">maplab</a> -- A research-oriented visual-inertial mapping framework, written in C++, for creating, processing and manipulating multi-session maps. On the one hand, maplab can be considered as a ready-to-use visual-inertial mapping and localization system. On the other hand, maplab provides a collection of multi-session mapping tools that include map merging, visual-inertial batch optimization, and loop closure.</p>
<p><a href="https://github.com/ethz-asl/rovio">rovio</a> -- Robust Visual Inertial Odometry framework, estimating the pose of a robot based on synchronized IMU and monocular or stereo camera input. EKF-based.</p>
<p><a href="https://github.com/ethz-asl/okvis_ros">okvis_ros</a>, <a href="https://github.com/ethz-asl/okvis">okvis</a> -- <a href="http://ethz-asl.github.io/okvis_ros/">docs_ros</a>, <a href="http://ethz-asl.github.io/okvis/">docs</a> -- Open Keyframe-based Visual-Inertial SLAM, bundle-adjustment based, estimating the pose of a robot based on synchronized IMU and monocular or stereo camera input.</p>
<p><a href="https://github.com/ethz-asl/ethzasl_msf">ethzasl_msf</a> -- Multi-sensor fusion, allowing fusing multiple sensors estimating a robots' pose together, such as multiple IMUs, IMU and camera pose estimates, external position tracking estimates, etc. Compensates for sensor delays.</p>
<h2>
<a id="perception" class="anchor" href="#perception" aria-hidden="true"><span aria-hidden="true" class="octicon octicon-link"></span></a>Perception</h2>
<p><a href="https://github.com/ethz-asl/wavemap">wavemap</a> -- Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping.</p>
<p><a href="https://github.com/ethz-asl/voxblox">voxblox</a> -- A flexible Signed Distance Field (SDF) library, which runs in real time on CPU only. Flexible to supporting TSDFs, ESDFs, and various other custom layers in a voxel-based architecture.</p>
<p><a href="https://github.com/ethz-asl/libpointmatcher">libpointmatcher</a> -- A library implementing various ICP (Iterative Closest Point) algorithms for laser and other scan matching in 3D. A ROS wrapper is available at <a href="https://github.com/ethz-asl/ethzasl_icp_mapping">ethzasl_icp_mapping</a>.</p>
<p><a href="https://github.com/ethz-asl/volumetric_mapping">volumetric_mapping</a> -- Wrapper around Octomap, allowing input from various data sources (such as disparity maps) and a more flexible sensor position interface.</p>
<a href="https://github.com/ethz-asl/grid_map">grid_map</a> -- 2.5 D grid-based mapping with multiple layers for robot navigation.</p>
<p><a href="https://github.com/ethz-asl/elevation_mapping">elevation_mapping</a> -- Local elevation mapping, expressed in a robot-centric frame for navigation, especially for walking robots.</p>
<h2>
<a id="calibration" class="anchor" href="#calibration" aria-hidden="true"><span aria-hidden="true" class="octicon octicon-link"></span></a>Calibration</h2>
<p><a href="https://github.com/ethz-asl/kalibr">kalibr</a> -- Camera and IMU calibration toolbox.</p>
<h2>
<a id="planning" class="anchor" href="#planning" aria-hidden="true"><span aria-hidden="true" class="octicon octicon-link"></span></a>Planning</h2>
<p><a href="https://github.com/ethz-asl/mav_trajectory_generation">mav_trajectory_generation</a> -- A library for polynomial optimization for Micro-Aerial Vehicle (MAV) paths.</p>
<p><a href="https://github.com/ethz-asl/nbvplanner">nbvplanner</a> -- Next-Best-View-based exploration and planning for Micro-Aerial Vehicles, based on vision-based sensing.</p>
<p><a href="https://github.com/ethz-asl/StructuralInspectionPlanner">StructuralInspectionPlanner</a> -- Toolbox for planning paths for a flying robot to inspect a structure for which a mesh representation is known.</p>
<h2>
<a id="simulation" class="anchor" href="#simulation" aria-hidden="true"><span aria-hidden="true" class="octicon octicon-link"></span></a>Simulation</h2>
<p><a href="https://github.com/ethz-asl/rotors_simulator">rotors_simulator</a> -- Gazebo-based simulator for multirotor helicopters and quadrotors. Provides physical models, sensor models, octomap generation from Gazebo world, and realistic aerodynamics simulation.</p>
<h2>
<a id="mathematics" class="anchor" href="#mathematics" aria-hidden="true"><span aria-hidden="true" class="octicon octicon-link"></span></a>Mathematics</h2>
<p><a href="https://github.com/ethz-asl/minkindr">minkindr</a> -- Lightweight, simple transformation library, handling Quaternion-based transformations. Conversions to/from ROS are available as part of the <a href="https://github.com/ethz-asl/minkindr_ros">minkindr_ros</a> package.</p>
<h2>
<a id="hardware-interfacesdrivers" class="anchor" href="#hardware-interfacesdrivers" aria-hidden="true"><span aria-hidden="true" class="octicon octicon-link"></span></a>Hardware Interfaces/Drivers</h2>
<p><a href="https://github.com/ethz-asl/visensor_node">visensor_node</a>, <a href="https://github.com/ethz-asl/libvisensor">libvisensor</a> -- Drivers for the VI Sensor, a sensor with a stereo head synchronized to an IMU.</p>
<p><a href="https://github.com/ethz-asl/versavis">VersaVIS</a> -- Provides a complete, open-source hardware, firmware and software bundle to perform time synchronization of multiple cameras with an IMU featuring exposure compensation, host clock translation and independent and stereo camera triggering.</p>
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