Stylianos Piperakis

serow. SEROW Framework for N Legged Robot Walking Estimation

imu_ekf. A ROS C++ node that fuses IMU and Odometry

whole_body_ik. Whole body Inverse Kinematics based on Pinocchio and qpmad

lcd. Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements

rgbd_odom_ros. RGBD odometry with ROS and openCV

lipm_motion. C++

nao_walk. C++

gem. Gait-phase Estimation Module

raisim_ros. A humanoid robot simulation ROS pkg for raisim www.raisim.com

gem2. GEM2 is a machine learning framework that combines effectively unsupervised and supervised learning on proprioceptive sensing to estimate the probability for a humanoid to be in the Left Single Support (LSS), Double Support (DS) and Right Single Support (RSS) phase.

humanoid_fsr. A ROS package that compute force/torque states and the Center of Pressure on each leg based on FSR.

cublox. 3D occupancy egocentric mapping: A simple and straightforward GPU implementation

lipm_control. C++

serow_utils. Visualization for SERoW

superpoint_trt. SuperPoint with TensorRT inference

g2o_slam3d. C++

GPURaytracing. GPU Raytracing with OpenCL

image_depth_publisher_ros. A ROS Package to publish RGB and Depth Images from a dataset

dbow_ros. bag of words ros wrapper

daisy_planner. Daisy Planner - Planning Time Informed Multi-agent Interactions

gem2_state_publisher. A ROS/C++ utility package for the Gait-Phase Estimation Module 2 (GEM2)

slam_stack. A ROS stack for g2o-based slam

raisim_examples. NAO and ATLAS simulation in raisim

humanoid_cop. Compute COP from F/T

klt_ros. Benchmarking Visual Features for Visual Odometry