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description=Datasets and open-source code from the Autonomous Systems Lab (ASL) at ETH Zurich, led by Prof. Roland Siegwart.;

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autonomous systems lab datasets open source ethz asl ethz asl datasets and open source code from the autonomous systems lab asl at eth zurich led by prof roland siegwart open source software datasets github organization asl homepage about the autonomous systems lab the autonomous systems lab is part of the mechanical engineering department at eth zurich under prof roland siegwart the main focus of the lab is autonomous robotic systems including hardware state estimation perception and planning a small subset of the software packages we ve made available open source are listed and described here datasets browse our datasets asl datasets overview open source projects these projects are divided by general area note that not all of these are appropriate for every robot or application please read each package s individual documentation state estimation maplab a research oriented visual inertial mapping framework written in c for creating processing and manipulating multi session maps on the one hand maplab can be considered as a ready to use visual inertial mapping and localization system on the other hand maplab provides a collection of multi session mapping tools that include map merging visual inertial batch optimization and loop closure rovio robust visual inertial odometry framework estimating the pose of a robot based on synchronized imu and monocular or stereo camera input ekf based okvis_ros okvis docs_ros docs open keyframe based visual inertial slam bundle adjustment based estimating the pose of a robot based on synchronized imu and monocular or stereo camera input ethzasl_msf multi sensor fusion allowing fusing multiple sensors estimating a robots pose together such as multiple imus imu and camera pose estimates external position tracking estimates etc compensates for sensor delays perception wavemap fast efficient and accurate multi resolution multi sensor 3d occupancy mapping voxblox a flexible signed distance field sdf library which runs in real time on cpu only flexible to supporting tsdfs esdfs and various other custom layers in a voxel based architecture libpointmatcher a library implementing various icp iterative closest point algorithms for laser and other scan matching in 3d a ros wrapper is available at ethzasl_icp_mapping volumetric_mapping wrapper around octomap allowing input from various data sources such as disparity maps and a more flexible sensor position interface grid_map 2 5 d grid based mapping with multiple layers for robot navigation elevation_mapping local elevation mapping expressed in a robot centric frame for navigation especially for walking robots calibration kalibr camera and imu calibration toolbox planning mav_trajectory_generation a library for polynomial optimization for micro aerial vehicle mav paths nbvplanner next best view based exploration and planning for micro aerial vehicles based on vision based sensing structuralinspectionplanner toolbox for planning paths for a flying robot to inspect a structure for which a mesh representation is known simulation rotors_simulator gazebo based simulator for multirotor helicopters and quadrotors provides physical models sensor models octomap generation from gazebo world and realistic aerodynamics simulation mathematics minkindr lightweight simple transformation library handling quaternion based transformations conversions to from ros are available as part of the minkindr_ros package hardware interfaces drivers visensor_node libvisensor drivers for the vi sensor a sensor with a stereo head synchronized to an imu versavis provides a complete open source hardware firmware and software bundle to perform time synchronization of multiple cameras with an imu featuring exposure compensation host clock translation and independent and stereo camera triggering hosted on github pages theme by orderedlist