Displaying 1 to 7 from 7 results

lidar_camera_calibration - ROS package to find a rigid-body transformation between a LiDAR and a camera for "LiDAR-Camera Calibration using 3D-3D Point correspondences"

  •    C++

The package is used to calibrate a LiDAR (config to support Hesai and Velodyne hardware) with a camera (works for both monocular and stereo). The package finds a rotation and translation that transform all the points in the LiDAR frame to the (monocular) camera frame. Please see Usage for a video tutorial. The lidar_camera_calibration/pointcloud_fusion provides a script to fuse point clouds obtained from two stereo cameras. Both of which were extrinsically calibrated using a LiDAR and lidar_camera_calibration. We show the accuracy of the proposed pipeline by fusing point clouds, with near perfection, from multiple cameras kept in various positions. See Fusion using lidar_camera_calibration for results of the point cloud fusion (videos).

orb_slam_2_ros - A ROS implementation of ORB_SLAM2

  •    C++

ORB-SLAM2 Authors: Raul Mur-Artal, Juan D. Tardos, J. M. M. Montiel and Dorian Galvez-Lopez (DBoW2). The original implementation can be found here. This is the ROS implementation of the ORB-SLAM2 real-time SLAM library for Monocular, Stereo and RGB-D cameras that computes the camera trajectory and a sparse 3D reconstruction (in the stereo and RGB-D case with true scale). It is able to detect loops and relocalize the camera in real time. This implementation removes the Pangolin dependency, and the original viewer. All data I/O is handled via ROS topics. For visualization you can use RViz. This repository is maintained by Lennart Haller on behalf of appliedAI.

LARVIO - A lightweight, accurate and robust monocular visual inertial odometry based on Multi-State Constraint Kalman Filter

  •    C++

LARVIO is short for Lightweight, Accurate and Robust monocular Visual Inertial Odometry, which is based on hybrid EKF VIO. It is featured by augmenting features with long track length into the filter state of MSCKF by 1D IDP to provide accurate positioning results. The core algorithm of LARVIO depends on Eigen, Boost, Suitesparse, Ceres and OpenCV, making the algorithm of good portability.

lgsvl_msgs - 2D & 3D ground truth ROS Messages for SVL Simulator

  •    CMake

This repository contains ROS message definitions for lgsvl_msgs to subscribe ROS messages being published by LG SVL Automotive Simulator via rosbridge. Copyright (c) 2018-2020 LG Electronics, Inc.

goroslib - ROS client library for the Go programming language

  •    Go

goroslib is a library in pure Go that allows to build clients (nodes) for the Robot Operating System (ROS). The Robot Operating System (ROS) is a project that provides a specification to make multiple programs communicate with each other over time, exchanging structured data with topics, services, actions and parameters. It was conceived to link sensors, algorithms and actuators in unmanned ground vehicles (UGVs) and robots, but it is not bounded to the robot world and can be used anywhere there's the need of building streams of data (for example in video processing).

uPy-rosserial - An implementation of rosserial for uPy.

  •    Python

rosserial is a method used by ROS in order to establish communication via serial, basically a middleware, mostly used with microcontrollers, which in this case are the ones responsible in some ROS applications for actuators and sensors usage. This library targets the communication between ROS and uPy with rosserial as middleware.

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