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Welcome to the Wiki of the Open MAV project!


Important resources

Visual Odometry / Visual SLAM

Here are some links to open-source libraries/implementations

LIBVISO2: Library for VISual Odometry 2

ROS Stack for the modified version of the monocular SLAM framework PTAM

SLAM - Simultaneous Localization And Mapping

Here we provide links to the most popular or promising SLAM approaches and resources. To get more details please follow this link.

RGB only (monocular or stereo camera aproaches)

Camera Calibration

Camera calibration ROS


  • RGBDSLAM - This ROS package can be used to register the point clouds from RGBD sensors, e.g., Microsoft Kinect
  • OpenKinect project - open community of people interested in making use of the Xbox Kinect hardware.

Data sets with ground truth

Kinect with ground truth from Vicon - ETH Zurich

Dataset from Technische Universität München



  • OpenSLAM - Main source of State-of-the-Art SLAM algorithms

Path Planning

For RGB-D sensors like Kinect

  • Kinect OpenNI driver and skeleton tracker link
  • Automatic Calibration of Extrinsic Parameters by François Pomerleau, Francis Colas and Stéphane Magnenat ETHZ ASL link
  • Kinect data set with ground truth from a Vicon system link

ROS - Robot Operating System

ROS provides libraries and tools to help software developers create robot applications. It provides hardware abstraction, device drivers, libraries, visualizers, message-passing, package management, and more.

Rock - the Robot Construction Kit

"Rock is a software framework for the development of robotic systems. The underlying component model is based on the Orocos RTT (Real Time Toolkit). Rock provides all the tools required to set up and run high-performance and reliable robotic systems for wide variety of applications in research and industry. It contains a rich collection of ready to use drivers and modules for use in your own system, and can easily be extended by adding new components." check it out

Related Work

Links to similar or related projects:

MIT Robust Robotics Group | CSAIL

sFly project


New interesting project RoboEarth with interfaces to ROS.

Workshops & Tutorials of IROS 2011

Results of the 2nd BRICS research camp on 3D perception and modelling

Free online class "Introduction to Artificial Intelligence" taught by Sebastian Thrun and Peter Norvig

Free online classes from Stanford University, UC Berkeley, and University of Michigan

Auxiliary learning materials

Stanford Engineering Everywhere (SEE)

Video lectures on many Natural Science topics, including Computer Science and Probability theory

Personal tools