This is the repository from the Technische Hochschule Nürnberg Georg Simon Ohm, for perception in the RoboCup Rescue League (RRL)

Robotics related projects developed by me

A collection of plugins for Gazebo to experiment with perception and manipulation tasks.

iOS based stimulus to scare fish, locusts etc.

manipulation project with robot UR3e

Motion planning for self-driving cars using ONCE dataset. Aims to provide framework for ONCE dataset use for self-driving cars and continuous development pipeline for experimental motion planning techniques.

SLAM, Tracking, Perception, ROS

PclWalkerViewer is a C++20 utility executable that walk (recursively on demand) a directory and sequentially display the point clouds its contains into a PCL 3D viewer. It supports PCD and PLY format. The viewer is controlled by keyboard inputs.

Artificial Intelligence > Machine Learning > Deep Learning

📽️🖥️ Track objects on your camera or on a video.

LiDAR processing ROS2. Segmentation algorithm: "Fast Ground Segmentation for 3D LiDAR Point Cloud Based on Jump-Convolution-Process". Clustering algorithm: "Curved-Voxel Clustering for Accurate Segmentation of 3D LiDAR Point Clouds with Real-Time Performance".

3D Perception project for the Robotics Nanodegree Program

Object segmentation via PCL Euclidean Cluster Extraction

ARAV is an Autonomous Robotic Aerial Vehicle developed by Alberto Ceballos and Joan Bessa at ISAE-SUPAERO.

ROS package with specific light weight examples of ROS concepts for learning

Here we build a complete perception pipeline in ROS(Robot Operating System) for a PR2 robot, which recognises an object, detects it and then places it in a box, this is a part of the Amazon Challenge.

The third generation Robot