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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。
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曹力科