slambook-en
symforce
| slambook-en | symforce | |
|---|---|---|
| 11 | 15 | |
| 1,369 | 1,347 | |
| - | 1.0% | |
| 0.0 | 8.9 | |
| 12 months ago | 12 days ago | |
| TeX | C++ | |
| GNU General Public License v3.0 only | Apache License 2.0 |
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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
symforce
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SymPy: Symbolic Mathematics in Python
You might find this library interesting: https://github.com/symforce-org/symforce
- SymForce is a fast symbolic computation and code generation library for robotics
- Fast Symbolic Computation for Robotics
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Literature request: Lie groups and algebra
Personally I followed along the text implementing things using symforce (https://symforce.org/) instead of Sophus.
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Jacobian Matrix possible on arduino?
It isn't related to Arduino, and may be overkill for this application, but Symforce has some cool tools for implementing the 1st option.
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What optimization libraries are you using?
I've been paying around with Symforce and the more I get into it the more excited I get about it. It lets you prototype in high level symbolic math in Python, then once you get things working it autogenerates super optimized C++ for you. And it has the built in tangent space stuff for factor graphs like GTSAM
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Skydio Researchers Open-Source ‘SymForce’: A Fast Symbolic Computation And Code Generation Library For Robotics Applications Like Computer Vision, etc.
Continue reading | Checkout the paper and github
- Fast symbolic computation, code generation, and nonlinear optimization for robotics
What are some alternatives?
ORB_SLAM2 - Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities
casadi - CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python or Matlab/Octave.
ORB_SLAM - A Versatile and Accurate Monocular SLAM
CppRobotics - Header-only C++ library for robotics, control, and path planning algorithms. Work in progress, contributions are welcome!
Mini-SLAM_student - Student version of Mini-SLAM.
pinocchio - A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
rpg_svo - Semi-direct Visual Odometry
Colosseum - Open source simulator for autonomous robotics built on Unreal Engine with support for Unity
ORB_SLAM3 - ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
ANMS-Codes - Efficient adaptive non-maximal suppression algorithms for homogeneous spatial keypoint distribution
slam - A simple slimmed down mono slam implementation
openvslam - OpenVSLAM: A Versatile Visual SLAM Framework