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发表于 2024-9-6 05:07:10
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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
<hr/>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
<hr/>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
<hr/>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
<hr/>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：
<hr/>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&#39;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&#39;s blocks (disclaimer: created by @ahundt)
- shapestacks - simulated stacks of colored children&#39;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 &#34;Iterative Closest Point&#34; 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
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