1. Extrinsic lidar camera calibration
This is a package for extrinsic calibration between a 3D LiDAR and a camera, described in paper: Improvements to Target-Based 3D LiDAR to Camera Calibration. This package is used for Cassie Blue's 3D LiDAR semantic mapping and automation.
3. CLF reactive planning system
This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain. The reactive planning system consists of a 5-Hz planning thread to guide a robot to a distant goal and a 300-Hz Control-Lyapunov-Function-based (CLF-based) reactive thread to co…
4. Cassie Model
Repo containing the urdf and frost based models of Cassie
5. Contact-Aided-Invariant-EKF
Example code for contact-aided invariant extended Kalman filtering.
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matlab7. LiDARTag
This is a package for LiDARTag, described in paper: LiDARTag: A Real-Time Fiducial Tag System for Point Clouds
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