https://github.com/jgsimard/RustRobotics
https://github.com/jgsimard/RustRobotics
graph-slam kalman-filter localization pose-graph-optimization robotics rust slam
Last synced: 6 months ago
JSON representation
- Host: GitHub
- URL: https://github.com/jgsimard/RustRobotics
- Owner: jgsimard
- License: mit
- Created: 2023-01-30T22:51:02.000Z (over 2 years ago)
- Default Branch: main
- Last Pushed: 2024-03-23T00:39:05.000Z (over 1 year ago)
- Last Synced: 2025-01-11T23:38:45.464Z (6 months ago)
- Topics: graph-slam, kalman-filter, localization, pose-graph-optimization, robotics, rust, slam
- Language: Rust
- Homepage:
- Size: 3.96 MB
- Stars: 14
- Watchers: 2
- Forks: 5
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
- awesome-rust-list - jgsimard/RustRobotics - robotics/). (Summary)
- awesome-rust-list - jgsimard/RustRobotics - robotics/). (Summary)
README
# RustRobotics
This package is a rust implementation of robotics algorithms. So far, the main source is the book [Probabilistic Robotics](https://mitpress.mit.edu/9780262201629/probabilistic-robotics/). I plan to have algorithms implementations in the `src` folder and the algorithms use cases in the `examples` folder. I plan to have python bindings using [pyo3](https://github.com/PyO3/pyo3)/[maturin](https://github.com/PyO3/maturin). I am also implementing the algorithms in python using [JAX](https://jax.readthedocs.io/en/latest/) in this [repo](https://github.com/jgsimard/jaxrobot).
## Table of Contents
- [RustRobotics](#rustrobotics)
- [Table of Contents](#table-of-contents)
- [Localization](#localization)
- [Extended Kalman Filter + Unscented Kalman Filter + Particle Filter](#extended-kalman-filter--unscented-kalman-filter--particle-filter)
- [EKF/PF With Landmarks](#ekfpf-with-landmarks)
- [Mapping](#mapping)
- [Pose Graph Optimization](#pose-graph-optimization)
- [Todo](#todo)
- [Sources](#sources)
## Localization
### Extended Kalman Filter + Unscented Kalman Filter + Particle Filter
[EKF](src/localization/extended_kalman_filter.rs), [UKF](src/localization/unscented_kalman_filter.rs), [PF](src/localization/particle_filter.rs), [Example](examples/localization/bayesian_filter.rs)
```bash
cargo run --example localization
```
### EKF/PF With Landmarks
[Example](examples/localization/localization_landmarks.rs)
```bash
cargo run --example localization_landmarks
```
## Mapping
### Pose Graph Optimization
This algorithm uses the sparse solver in [Russel](https://github.com/cpmech/russell/tree/main/russell_sparse) which wraps [SuiteSparse](https://people.engr.tamu.edu/davis/suitesparse.html) so follow the installation instructions. [Algorithm](src/mapping/pose_graph_optimization.rs), [Example](examples/mapping/pose_graph_optimization.rs), [Source](https://www.researchgate.net/profile/Mohamed-Mourad-Lafifi/post/What_is_the_relationship_between_GraphSLAM_and_Pose_Graph_SLAM/attachment/613b3f63647f3906fc978272/AS%3A1066449581928450%401631272802870/download/A+tutorial+on+graph-based+SLAM+_+Grisetti2010.pdf)
```bash
cargo run --example pose_graph_optimization
```
## Todo
- Bayesian Filters
- Information filter
- Histogram filter
- Pose Graph Optimization
- PGO on manifold (3D)
- Robust Kernels / Adaptive Kernels
- Mapping
- Occupancy Grid
- Iterative Closest Point
- EKF-SLAM
- FastSLAM 1.0
- FastSLAM 2.0
- Camera Calibration
- Direct Linear Transform (DLT)
- Zhang’s Method
- Projective 3-Point (P3P)
- Bundle Adjustement
- Triangulation
- Optimal Control
- LQR
- LQG
- etc
## Sources
- [Probabilistic Robotics](https://mitpress.mit.edu/9780262201629/probabilistic-robotics/)
- [PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics)
- [Underactuated Robotics](https://underactuated.mit.edu/index.html)
- [Probabilistic-Robotics-Algorithms](https://github.com/ChengeYang/Probabilistic-Robotics-Algorithms)
- [A tutorial on Graph-Based SLAM](https://www.researchgate.net/profile/Mohamed-Mourad-Lafifi/post/What_is_the_relationship_between_GraphSLAM_and_Pose_Graph_SLAM/attachment/613b3f63647f3906fc978272/AS%3A1066449581928450%401631272802870/download/A+tutorial+on+graph-based+SLAM+_+Grisetti2010.pdf)
- [A tutorial on SE(3) transformation parameterizations and on-manifold optimization](https://arxiv.org/abs/2103.15980)
- [Courses from Dr. Cyrill Stachniss](https://www.ipb.uni-bonn.de/teaching)
## Compilation issues
For plotters
```bash
sudo apt install fontconfig libfontconfig libfontconfig1-dev
```
For Russel
```bash
sudo apt install liblapacke-dev libmumps-seq-dev libopenblas-dev libsuitesparse-dev
```