傾情整理，建議收藏。曹力科
話不多說，請看：
一、Facebook 的PyRobot
。
推出時間：2019年。GitHub Star數量：1.1K。語言：Python
。
地址：facebookresearch/pyrobot
PyRobot 框架由 Facebook 和卡內基梅隆大學共同開發，可以執行由
PyTorch 訓練的深度學習模型。
在設計上，PyRobot 框架旨在使 AI 研究者和學生在不具備裝置驅動程式、控制或規劃專業知識的情況下，在幾小時內操控機器人工作。
下面是他的演示：
導航
機械臂抓取
碼垛
二、PythonRobotics。
用Python實作機器人學的相關演算法。包含SLAM演算法、導航演算法、軌跡規劃、機械臂導航、雙足演算法等。
GitHub Star數量：7.2K。
地址：https://
github.com/AtsushiSakai
/PythonRobotics
三、Pixhawk及其配套計畫。
Pixhawk是一個獨立的開源硬體計畫，旨在為學術界、業余愛好者和開發者社群提供現成的、高品質的、低成本的
自動駕駛儀（常用於無人機）硬體設計標準
。最初出自蘇黎世理工（2008年）。現在已經是
第四代
了（Pixhawk 4）。長下面這樣的。
基本上需要自動駕駛（飛控）等需要用到的硬體和介面它都提供了。它采用2塊STM32，一塊做核心主控，另一塊做IO處理。它提供豐富的傳感器，加速度計、陀螺儀、磁力計、氣壓計、GPS等。它的介面也很豐富，從圖片上就能看出來。
和Pixhawk配套的開源軟體主要有PX4和ArduPilot。其中PX4在GitHub上有3K的Star，ArduPilot在GitHub上有4.5K的Star。
劃重點：Pixhawh是一款開源的自動駕駛儀硬體。和Pixhawk配套的開源軟體主要有PX4和ArduPilot。
Pixhawk硬體github地址：
Pixhawk
PX4飛控軟體GitHub地址：
PX4/Firmware
ArduPilot飛控軟體GitHub地址
：ArduPilot/ardupilot
Pixhawk官網
：Home Page
PX4官網
：https://
px4.io/
ArduPilot官網
：http://
ardupilot.org/
Pixhawk測試效果
https://www.zhihu.com/video/1182695321850769408
四、語音對話機器人/智慧音箱。
語音對話機器人介紹兩款：叮當和悟空。
叮當是一款可以工作在樹莓派上的中文語音對話機器人/智慧音箱計畫。
GitHub Star數量：1.6K。
地址：dingdang-robot
悟空是一個簡單、靈活、優雅的中文語音對話機器人/智慧音箱計畫。
GitHub Star數量：1.4K。
地址：wukong-robot
五、其他
5.1 MVision
MVision是一個機器人視覺的資料庫，包括移動機器人、VS-SLAM、ORB-SLAM2、深度學習目標檢測、yolov3、行為檢測、opencv、PCL、機器學習以及無人駕駛等。
GitHub Star數量：3.4K。
地址：Ewenwan/MVision
5.2 gobot
機器人、無人機、物聯網等演算法在Golang框架下的實作。
GitHub Star數量：5.9 K
。
地址：hybridgroup/gobot
5.3 Awesome Robotics。
這是一個收集了包含機器人學相關的
課程、書籍、軟體、會議、期刊、比賽、行業公司
等資訊的計畫。
GitHub Star數量：1.4K
。
地址：awesome-robotics
在計畫的後面，還列出了相關領域（如人工智慧、電腦視覺、機器學習等）出色的計畫：
Awesome Artificial Intelligence
Awesome Computer Vision
Awesome Machine Learning
Awesome Deep Learning
Awesome Deep Vision
Awesome Gazebo
Awesome Reinforcement Learning
Awesome Robotics
Awesome Robotics Libraries
Awesome ROS2
其中提到的部份計畫如下：
機器人仿真
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.
視覺化，顯示、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.
機器學習
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 & Spark
PipelineAI - 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 TensorFlow's TFRecord data format.
影像分割
tf-image-segmentation - Image Segmentation framework based on Tensorflow and TF-Slim library.
Keras-FCN
跟蹤
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.
運動學、動力學、約束最佳化
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
校準工具
handeye-calib-camodocal - generic robot hand-eye calibration.
robot_calibration - generic robot kinematics calibration for ROS
kalibr - camera and imu calibration for ROS
強化學習
TensorForce - A TensorFlow library for applied reinforcement learning
gqcnn - 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.
數據集
CoSTAR Block Stacking Dataset - Robot stacking colored children's blocks (disclaimer: created by @ahundt)
shapestacks - simulated stacks of colored children's objects
pascal 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.
線性代數 & 幾何
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.
點雲
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.
先到這裏吧，以後有好的計畫再更新。
別都只顧收藏啊！盡情點贊，不必客氣！
曹力科
