slambook-en
pytagmapper
slambook-en | pytagmapper | |
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11 | 8 | |
1,369 | 20 | |
- | - | |
0.0 | 5.5 | |
12 months ago | 3 months ago | |
TeX | Python | |
GNU General Public License v3.0 only | MIT License |
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slambook-en
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How to implement SLAM from scratch in C++
Looking at code repos is not an effective way to learn in my opinion. I highly recommend this open text book that has practical explained and many code examples https://github.com/gaoxiang12/slambook-en
- SLAM localization methods?
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Trying to understand the complications of including geometric priors in SLAM
According to a popular slam book(https://github.com/gaoxiang12/slambook-en/blob/master/slambook-en.pdf) this has to do with solving the Hx=g with schur trick and how row operations induce some implicit constraints during the marginalization step ( pg 211~213). However, I don't think I am getting the full picture here.
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Starting point for learning VSLAM?
Hi, I work on a tangentially related topic and the best resource I've found so far is this book: https://github.com/gaoxiang12/slambook-en/blob/master/slambook-en.pdf. I went through some chapters only, but everything seems to be explained clearly and with code examples. Hope this helps!
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Clarification for Lie Algebra
I am trying to understand the Lie algebra for robotics and reading up this: https://github.com/gaoxiang12/slambook-en/blob/master/slambook-en.pdf
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Mono SLAM -Camera pose on Mobile Robot
If you're wanting to learn how all this stuff works I highly recommend this open source book: https://github.com/gaoxiang12/slambook-en
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Literature request: Lie groups and algebra
Hey! I was in your shoes a couple months ago! The YouTube video that the_remainder posted is how I wrapped my mind around lie algebra, but in order for me to be able to use it effectively took going through the relevant chapter in the slambook (https://github.com/gaoxiang12/slambook-en)
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C++ or Python (SLAM)
Great book to learn slam https://github.com/gaoxiang12/slambook-en
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Online course for SLAM with assignments
https://github.com/gaoxiang12/slambook-en I would recommend this.
- Roadmap to study Visual-SLAM
pytagmapper
- improving camera pose estimation using multiple aruco markers
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How to get real-world coordinates from multiple QR codes located on the ceiling?
This functionality is implemented in my python project https://github.com/markisus/pytagmapper
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Using relative pose of fiducials as additional odometry data source?
If you go with fiducials, I'd like to plug my own python project https://github.com/markisus/pytagmapper which lets you pre-build a map using aruco tags.
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Show HN: Pytagmapper – python3 SLAM library for square fiducial tags
See the demo page for example applications of inside out tracking and virtual metrology.
https://github.com/markisus/pytagmapper/blob/main/DEMO.md
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My Python3 SLAM library for square fiducial tags
Uploaded an inside out tracking demo https://github.com/markisus/pytagmapper/blob/main/DEMO.md
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C++ or Python (SLAM)
If you are still looking for an implementation in python, here's a simple one called pytagmapper https://github.com/markisus/pytagmapper/blob/main/DEMO.md I just released that operates on fiducial tags like AprilTag or ArUco. It uses some modern techniques like manifold optimization on SE2 and SE3 (see https://arxiv.org/abs/1812.01537 for an introduction) as well as gaussian belief propagation (see https://gaussianbp.github.io/) instead of EKF.
What are some alternatives?
symforce - Fast symbolic computation, code generation, and nonlinear optimization for robotics
ORB_SLAM2 - Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities
ORB_SLAM - A Versatile and Accurate Monocular SLAM
Mini-SLAM_student - Student version of Mini-SLAM.
rpg_svo - Semi-direct Visual Odometry
ORB_SLAM3 - ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
slam - A simple slimmed down mono slam implementation
visual-slam-roadmap - Roadmap to become a Visual-SLAM developer in 2023
slambook_python - Going through the slam book using python libraries (symforce)
dso - Direct Sparse Odometry