= Software and Video Downloads =

== Software ==

 * [[http://openslam.org/slom.html|openSLOM (Sparse Least Square on Manifolds) on www.openslam.org]]
 * [[http://openslam.org/treemap.html|treemap on www.openslam.org]]
 * [[https://github.com/fwenk/opensirka|SIRKA Inertial Motion Capturing Code (Research Code), Wenk et al. Posture from Motion, IROS 2015]]

== SLAM Videos ==

=== Treemap ===
 * [[attachment:en/TreemapAsAGenericOpenSourceBackend/frese6dofslam.avi|6-DOF SLAM simulations with treemap]]
 * [[attachment:en/ClosingAMillionLandmarksLoop/fresemillionlandmarks.avi|2D SLAM simulations with treemap: Closing a million landmarks loop]]
 * [[attachment:en/TreemapOLogNAlgorithm/Experiment1/mobilerobot_mapping_311003_small.mpg| Realworld experiment 1: mapping]]
 * [[attachment:en/TreemapOLogNAlgorithm/Experiment1/mobilerobot_mapping_311003_vision_small.mpg| Realworld experiment 1: Mapping from the robot's perspective with treemap]]
 * [[attachment:en/TreemapOLogNAlgorithm/Experiment1/mobilerobot_navigation_311003_small.mpg|Realworld experiment 1: Navigation]]
 * [[attachment:en/TreemapOLogNAlgorithm/Experiment2/mobilerobot_mappingdlrbuilding_240803_small.mpg|Realworld experiment 2: Mapping a whole building with treemap]]

=== Data Association ===
 * Videos showing the [[en/DlrSpatialCognitionDataSet| DLR-Spatial Cognition Data Set]]:
  * [[attachment:en/DlrSpatialCognitionDataSet/circles.avi| The path of the robot with detected circular landmarks]]
  * [[attachment:en/DlrSpatialCognitionDataSet/lines.avi| The path of the robot with vertical lines as landmarks]]
 * The data set itself can be downloaded from radish soon.


== Realtime Computer Vision for Sport Robotics Videos ==

=== A Robotic Ballcatcher (work during Udo Frese's time at the DLR) ===
 * [[attachment:en/RoboticBallcatcher/BallcatcherVideo.mpg|A robotic ballcatcher]]

=== Ball Trajectory Prediction Using a Camera-Inertial Sensor ===
 * [[attachment:en/Vision2050/scene20-large.avi|Ball trajectory prediction video 1]]
 * [[attachment:en/Vision2050/scene33-large.avi|Ball trajectory prediction video 2]]
 * [[attachment:en/Vision2050/scene27-large.avi|Ball trajectory prediction video 3]]
 * [[attachment:en/Vision2050/realgoal-large.avi|Ball trajectory prediction video 4]]

=== Hints ===

 [[lasercutinventor|How to make svg-files for laser-cutting with Autodesk Inventor]]