RustRobotics

This package is a rust implementation of robotics algorithms. So far, the main source is the book Probabilistic Robotics. Algorithms implementations are in the src folder and use cases in the examples folder.

Table of Contents

• RustRobotics
  • Table of Contents
  • Localization
    • Extended Kalman Filter + Unscented Kalman Filter + Particle Filter
    • EKF/PF With Landmarks
  • Mapping
    • Pose Graph Optimization
  • Todo
  • Sources

Localization

Extended Kalman Filter + Unscented Kalman Filter + Particle Filter

EKF, UKF, PF, Example

cargo run --example localization

EKF/PF With Landmarks

Example

cargo run --example localization_landmarks

Mapping

Pose Graph Optimization

This algorithm uses the sparse solver in Faer. Algorithm, Example, Source

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
• PythonRobotics
• Underactuated Robotics
• Probabilistic-Robotics-Algorithms
• A tutorial on Graph-Based SLAM
• A tutorial on SE(3) transformation parameterizations and on-manifold optimization
• Courses from Dr. Cyrill Stachniss