Robotics Toolbox for MATLAB

useful blogs for research

Solutions to assignments for Robot Mapping / SLAM Course WS 2013/14, Uni of Freiburg. Please see to linked website and README for YouTube videos & further resources.

Observability-Constrained (OC)-EKF for 2D SLAM

Matlab: Optimization for Nonlinear Least Squares

interfaces and algorithms for event based cameras, lidars, and actuators

Motion Averaging

Sample code of BMVC 2017 paper: "Visual Odometry with Drift-Free Rotation Estimation Using Indoor Scene Regularities"

Navigation, State estimation (KF & EKF) and SLAM.

Implementations of various Simultaneous Localization and Mapping (SLAM) algorithms using Octave / MATLAB.

[ECCV 2024] GlobalPointer: Large-Scale Plane Adjustment with Bi-Convex Relaxation

Sample code of AURO 2019 & IROS 2015 papers: "Autonomous Flight with Robust Visual Odometry under Dynamic Lighting Conditions" & "Robust Visual Odometry to Irregular Illumination Changes with RGB-D camera"

Visuo-tactile shape mapping with GelSight and depth camera

3D Scene Reconstruction in MATLAB with the Microsoft Kinect depth sensor.

Projects from the Robotics specialization from Coursera offered by the University of Pennsylvania

My assignment of Robotics: Estimation and Learning on Coursera.

Global 3D Map Construction using RTAB-Map iPhone/iPad app data

Localization using a Particle Filter (and random walk model)

Simple 2D Pose Graph SLAM

Offline Simultaneous Localization and Mapping using GTSAM