theCyberiad is a library of C++ source code.
It contains algorithms for artificial intelligence, computer vision, and robotics.
documents, this website and software produced by david rawlinson

	Publications	IEEE Robotics & Automation Magazine 2008: Ways to tell robots where to go: Directing autonomous robots using topological instructions David Rawlinson and Ray Jarvis Robotica 2007: Topologically-Directed Navigation David Rawlinson and Ray Jarvis ACRA 2006: Person tracking, pursuit and interception by mobile robot Punarjay Chakravarty, David Rawlinson and Ray Jarvis IROS 2006:Simple yet effective visuo-spatial mapping David Rawlinson and Ray Jarvis ICRA 2006:Bi-modal search using complementary sensing (olfaction/vision) for odour source localization Gideon Kowadlo, David Rawlinson, R. Andy Russell and Ray Jarvis ACRA 2005:Panoramic horizon recognition David Rawlinson and Ray Jarvis ACRA 2004:Distributed visual servoing of a mobile robot, for surveillance applications David Rawlinson, Punarjay Chakravarty and Ray Jarvis
	Robot videos	Topologically-directed navigation in laboratory, and around. Lab., figure-8 route video81, video82 Lab., figure-q route videoq1, videoq2 Leaving lab. videof1, videof2 Robot used in these videos
	Source Code	The library of source code can be downloaded here. Use of the code is restricted only by the GPL. It contains thousands of functions in object-oriented C++, using templates. The code only depends on ANSI C++ libraries. The QT4 toolkit is used for graphical interface components. Algorithms in the library include: Occupancy Grid (robotics) Particle Filter (robotics) Distance Transform (robotics) Behavioural Dynamics (robotics) Voronoi Approx. (robotics) Subsumption model (robotics) Topological maps (robotics) Topological directions (robotics) Kohonen SOM (ai) Finite State model (ai) RANSAC search (ai) A* search (ai) Combinatorial optimization (ai) Stochastic Hill-Climber (ai) Roulette Selection (ai) Simulated Annealing (ai) Evolutionary Algorithms (ai) Image smoothing (computer vision) Image normalization (computer vision) Image convolution (computer vision) Image pyramids (computer vision) Image contours (computer vision) Image moments (computer vision) Histogram equalization (computer vision) Lowe's SIFT (computer vision) Canny Edges (computer vision) SUSAN features (computer vision) Watershed transform (computer vision) Connected components (computer vision) Region labelling (computer vision) Colour constancy (computer vision) Region skeleton (computer vision)