A modern robotic toolkit for localization and mapping -- reducing the barrier of entry for Simultaneous Localization and Mapping (SLAM).

Towards non-parametric / parametric state estimation and navigation solutions [1]. Implemented in Julia (and JuliaPro) for a fast, flexible, dynamic and productive robot designer experience. This framework maintains good interoperability with other languages like C/C++ or Python, as listed in features below. Multi-modal (quasi-multi-hypothesis) navigation and mapping solutions, using various sensor data, is a corner stone of this package. Multi-sensor fusion is made possible via vertically integrated Multi-modal iSAM.

Critically, this package can operate in the conventional SLAM manner, using local dictionaries, or centralize around the FactorGraph through a graph database using CloudGraphs.jl, as discussed here[2]. A variety of plotting, 3D visualization, serialization, LCM middleware, and analysis tools come standard. Please see internal packages, Robot Motion Estimate RoME.jl and back-end solver IncrementalInference.jl.

Comments, questions and issues welcome.

Please see the documentation:

Please see the Arena.jl package for the concentration of all 2D and 3D visualization utilities of the Caesar.jl robot navigation packages.

Caesar can be installed with:

julia> Pkg.add("Caesar")

Major Dependencies	Status	Test Coverage
Caesar.jl
RoME.jl
IncrementalInference.jl
KernelDensityEstimate.jl
TransformUtils.jl
Graphs.jl
CloudGraphs.jl

Authors directly involved with this package are:

D. Fourie, S. Claassens, P. Vaz Teixeira, N. Rypkema, S. Pillai, R. Mata, M. Kaess, J. Leonard

We are grateful for many, many contributions within the Julia package ecosystem -- see the REQUIRE files of Caesar, Arena, RoME, RoMEPlotting, KernelDensityEstimate, IncrementalInference, NLsolve, DrakeVisualizer, Graphs, CloudGraphs and others for a far reaching list of contributions.

Consider citing our work:

@misc{caesarjl,
  author = "Dehann Fourie, John Leonard, Micheal Kaess, and contributors",
  title =  "Caesar.jl",
  year =   2017,
  url =    "https://github.com/dehann/Caesar.jl"
}