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
。
地址：facebookresearch/pyrobot
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：
导航
机械臂抓取
码垛
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/
Pixhawk测试效果
https://www.zhihu.com/video/1182695321850769408
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。
地址：dingdang-robot
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。
地址：Ewenwan/MVision
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
。
地址：hybridgroup/gobot
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
。
地址：awesome-robotics
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 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 & 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.
图像分割
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 ROS
kalibr - camera and imu calibration for ROS
强化学习
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.
数据集
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.
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。
别都只顾收藏啊！尽情点赞，不必客气！
曹力科
