自动驾驶相关工具整理

• system工具汇总

  • lcm
  • libbot
  • drake

• SLAM工具汇总

  • GTSAM
  • MRPT

• 模拟器工具汇总

• Carla

• 基于GAZEBO平台的模拟实例

• 基于Euro Truck Simulator 2的游戏模拟案例

• 基于TORCS框架的应用实例

• 一个基于UDACITY平台的游戏引擎应用实例

• 商业仿真软件Prescan

• 商业机器人仿真平台V-Rep及其社区支持版本

• AirSim

  • others
    • libLAS

system工具汇总

lcm

libbot

mit实验室内部工具， 核心功能如下：

• A collection of elementary yet effective routines in the bot2-core C library, along with core message types such as LCM types.
• A bot2-vis C library utilizing OpenGL and GTK_{₂ toolkit for data visualization.
• A bot_{₂-lcmgl_{}) program transmitting and rendering OpenGL commands through the LCM protocol.
• Bot_{₂-procman_{}) offers process management tools to control multiple workstations or a single workstation's processes via command-line interfaces.
• Bot_{₂-lcm-utils_{}) provides utility programs for interacting with LCM, including TCP-based tunneling functionality for exchanging data streams between bots as well as utilities to manipulate log files by chopping or splicing them into different parts.

drake

该系统由麻省理工学院机器人实验室开发。

SLAM工具汇总

GTSAM

GTSAM represents a collection of C++ class libraries designed for implementing smoothing and mapping (SAM) operations in robotics and vision applications. It utilizes factor graphs and Bayesian networks as the computational foundation, diverging from sparse matrix approaches.

MRPT

Robotic Systems Library offers developers with a collection of robust and tested tools covering essential data structures and algorithms for robotics research.

simulator工具汇总

参考：
https://www.zhihu.com/question/24366951/answer/256186562?utm_source=com.alibaba.android.rimet&utm_medium=social

carla

CARLA is an open-source simulator for autonomous driving research.

采用GAZEBO模拟的例子

通过游戏Euro Truck Simulator 2模拟的例子

使用TORCS的例子

Gym-TORCS functions as a reinforcement learning (RL) platform within the TORCS domain, featuring an interface similar to OpenAI Gym's. TORCS operates as an open-source realistic car racing simulator that has become a prevalent benchmark task for RL applications in AI research.

Udacity所开发的游戏引擎构建了一个模拟场景

商业模拟器prescan

商业机器人模拟器v-rep，有社区版

AirSim

微软开发了一款仿真工具。最初应用于无人机领域。又增添了一些自动驾驶相关的功能。收集并存储了大量图像数据以及深度图数据。

others

libLAS

基于LiDAR的数据读取软件。 libLAS 是一种支持读写 LAS LiDAR 数据格式的 C/C++ 库。

基于LiDAR的数据读取软件。
libLAS 是一种支持读写 LAS LiDAR 数据格式的 C/C++ 库。