倾情整理,建议收藏。曹力科
话不多说,请看:
一、Facebook 的PyRobot。
推出时间:2019年。GitHub Star数量:1.1K。语言:Python。
PyRobot 框架由 Facebook 和卡内基梅隆大学共同开发,可以运行由 PyTorch 训练的深度学习模型。在设计上,PyRobot 框架旨在使 AI 研究者和学生在不具备设备驱动程序、控制或规划专业知识的情况下,在几小时内操控机器人工作。
下面是他的演示:
二、PythonRobotics。
用Python实现机器人学的相关算法。包含SLAM算法、导航算法、轨迹规划、机械臂导航、双足算法等。
GitHub Star数量:7.2K。
地址:https://github.com/AtsushiSakai/PythonRobotics
三、Pixhawk及其配套项目。
Pixhawk是一个独立的开源硬件项目,旨在为学术界、业余爱好者和开发者社区提供现成的、高质量的、低成本的自动驾驶仪(常用于无人机)硬件设计标准。最初出自苏黎世理工(2008年)。现在已经是第四代了(Pixhawk 4)。长下面这样的。
基本上需要自动驾驶(飞控)等需要用到的硬件和接口它都提供了。它采用2块STM32,一块做核心主控,另一块做IO处理。它提供丰富的传感器,加速度计、陀螺仪、磁力计、气压计、GPS等。它的接口也很丰富,从图片上就能看出来。
和Pixhawk配套的开源软件主要有PX4和ArduPilot。其中PX4在GitHub上有3K的Star,ArduPilot在GitHub上有4.5K的Star。
划重点:Pixhawh是一款开源的自动驾驶仪硬件。和Pixhawk配套的开源软件主要有PX4和ArduPilot。
Pixhawk硬件github地址:Pixhawk
PX4飞控软件GitHub地址:PX4/Firmware
ArduPilot飞控软件GitHub地址:ArduPilot/ardupilot
Pixhawk官网:Home Page
PX4官网:https://px4.io/
ArduPilot官网:http://ardupilot.org/
四、语音对话机器人/智能音箱。
语音对话机器人介绍两款:叮当和悟空。
叮当是一款可以工作在树莓派上的中文语音对话机器人/智能音箱项目。
GitHub Star数量:1.6K。
悟空是一个简单、灵活、优雅的中文语音对话机器人/智能音箱项目。
GitHub Star数量:1.4K。
地址:wukong-robot
五、其他
5.1 MVision
MVision是一个机器人视觉的资料库,包括移动机器人、VS-SLAM、ORB-SLAM2、深度学习目标检测、yolov3、行为检测、opencv、PCL、机器学习以及无人驾驶等。
GitHub Star数量:3.4K。
5.2 gobot
机器人、无人机、物联网等算法在Golang框架下的实现。
GitHub Star数量:5.9 K。
5.3 Awesome Robotics。
这是一个收集了包含机器人学相关的课程、书籍、软件、会议、期刊、比赛、行业公司等信息的项目。
GitHub Star数量:1.4K。
在项目的后面,还列出了相关领域(如人工智能、计算机视觉、机器学习等)出色的项目:
Awesome Artificial IntelligenceAwesome Computer VisionAwesome Machine LearningAwesome Deep LearningAwesome Deep VisionAwesome GazeboAwesome Reinforcement LearningAwesome RoboticsAwesome Robotics LibrariesAwesome ROS2其中提到的部分项目如下:
机器人仿真
V-REP - Create, Simulate, any Robot.Microsoft Airsim - Open source simulator based on Unreal Engine for autonomous vehicles from Microsoft AI & Research.Bullet Physics SDK - Real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc. Also see pybullet.可视化,显示、渲染
Pangolin - A lightweight portable rapid development library for managing OpenGL display / interaction and abstracting video input.PlotJuggler - Quickly plot and re-plot data on the fly! Includes optional ROS integration.Data Visualization - A list of awesome data visualization tools.机器学习
Keras - Deep Learning library for Python. Convnets, recurrent neural networks, and more. Runs on TensorFlow or Theano.keras-contrib - Keras community contributions.TensorFlow - An open-source software library for Machine Intelligence.recurrentshop - framework for building complex recurrent neural networks with Keras.tensorpack - Neural Network Toolbox on TensorFlow.tensorlayer - Deep Learning and Reinforcement Learning Library for Researchers and Engineers.TensorFlow-Examples - TensorFlow Tutorial and Examples for beginners.hyperas - Keras + Hyperopt: A very simple wrapper for convenient hyperparameter optimization.elephas - Distributed Deep learning with Keras & SparkPipelineAI - End-to-End ML and AI Platform for Real-time Spark and Tensorflow Data Pipelines.sonnet - Google Deepmind APIs on top of TensorFlow.visipedia/tfrecords - Demonstrates the use of TensorFlows TFRecord data format.tf-image-segmentation - Image Segmentation framework based on Tensorflow and TF-Slim library.Keras-FCN跟踪
simtrack - A simulation-based framework for tracking.ar_track_alvar - AR tag tracking library for ROS.artoolkit5 - Augmented Reality Toolkit, which has excellent AR tag tracking software.运动学、动力学、约束优化
jrl-umi3218/Tasks - Tasks is library for real time control of robots and kinematic trees using constrained optimization.jrl-umi3218/RBDyn - RBDyn provides a set of classes and functions to model the dynamics of rigid body systems.ceres-solver - Solve Non-linear Least Squares problems with bounds constraints and general unconstrained optimization problems. Used in production at Google since 2010.orocos_kinematics_dynamics - Orocos Kinematics and Dynamics C++ library.flexible-collsion-library - Performs three types of proximity queries on a pair of geometric models composed of triangles, integrated with ROS.robot_calibration - generic robot kinematics calibration for ROS校准工具
handeye-calib-camodocal - generic robot hand-eye calibration.robot_calibration - generic robot kinematics calibration for ROSkalibr - camera and imu calibration for ROS强化学习
TensorForce - A TensorFlow library for applied reinforcement learninggqcnn - Grasp Quality Convolutional Neural Networks (GQ-CNNs) for grasp planning using training datasets from the Dexterity Network (Dex-Net)Guided Policy Search - Guided policy search (gps) algorithm and LQG-based trajectory optimization, meant to help others understand, reuse, and build upon existing work.数据集
CoSTAR Block Stacking Dataset - Robot stacking colored childrens blocks (disclaimer: created by @ahundt)shapestacks - simulated stacks of colored childrens objectspascal voc 2012 - The classic reference image segmentation dataset.openimages - Huge imagenet style dataset by Google.COCO - Objects with segmentation, keypoints, and links to many other external datasets.cocostuff - COCO additional full scene segmentation including backgrounds and annotator.Google Brain Robot Data - Robotics datasets including grasping, pushing, and pouring.Materials in Context - Materials Dataset with real world images in 23 categories.Dex-Net 2.0 - 6.7 million pairs of synthetic point clouds and grasps with robustness labels.cocostuff - COCO additional full scene segmentation including backgrounds and annotator.线性代数 & 几何
Eigen - Eigen is a C++ template library for linear algebra: matrices, vectors, numerical solvers, and related algorithms.Boost.QVM - Quaternions, Vectors, Matrices library for Boost.Boost.Geometry - Boost.Geometry contains instantiable geometry classes, but library users can also use their own.SpaceVecAlg - Implementation of spatial vector algebra for 3D geometry with the Eigen3 linear algebra library.Sophus - C++ implementation of Lie Groups which are for 3D Geometry, using Eigen.点云
libpointmatcher - An "Iterative Closest Point" library robotics and 2-D/3-D mapping.Point Cloud Library (pcl) - The Point Cloud Library (PCL) is a standalone, large scale, open project for 2D/3D image and point cloud processing.SLAM
ElasticFusion - Real-time dense visual SLAM system.co-fusion - Real-time Segmentation, Tracking and Fusion of Multiple Objects. Extends ElasticFusion.Google Cartographer - Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.OctoMap - An Efficient Probabilistic 3D Mapping framework based on Octrees. Contains the main OctoMap library, the viewer octovis, and dynamicEDT3D.ORB_SLAM2 - Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities.先到这里吧,以后有好的项目再更新。
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