.. _isaac_perceptor:

Isaac Perceptor
===============

Isaac Perceptor is a camera-based 3D perception system for mobile robots.
It provides robust odometry together with local 3D scene reconstruction
to enable autonomous navigation applications. It supports creating a map from a
rosbag and localizing against the created map in order to improve localization
quality and maintain a global frame of reference.

    
Isaac Perceptor leverages multiple other Isaac ROS modules:

* :doc:`Isaac ROS Nova </repositories_and_packages/isaac_ros_nova/index>` for time-synchronized multi-cam data.
* :doc:`Isaac ROS Visual SLAM </repositories_and_packages/isaac_ros_visual_slam/isaac_ros_visual_slam/index>` for GPU-accelerated camera-based odometry.
* :doc:`Isaac ROS Visual Global Localization </repositories_and_packages/isaac_ros_mapping_and_localization/isaac_ros_visual_global_localization/index>` for GPU-accelerated camera-based global localization.
* :doc:`Isaac ROS DNN Stereo Depth </repositories_and_packages/isaac_ros_dnn_stereo_depth/isaac_ros_ess/index>` for learning-based stereo-depth estimation.
* :doc:`Isaac ROS Nvblox </repositories_and_packages/isaac_ros_nvblox/index>` for GPU-accelerated local 3D scene reconstruction.
* :doc:`Isaac ROS Image Pipeline </repositories_and_packages/isaac_ros_image_pipeline/index>` for GPU-accelerated image processing.

Isaac Perceptor supports running on the following robot platforms and simulation environment:

* :ref:`nova_developer_kit`
* :ref:`nova_carter`
* `Isaac Sim <https://docs.omniverse.nvidia.com/isaacsim/latest/>`__

Isaac Perceptor supports different camera configurations, details please see:

.. toctree::
   :maxdepth: 1
   :glob:

   supported_configurations.rst

Tutorials
---------

.. toctree::
   :maxdepth: 1
   :glob:

   tutorial_stereo_camera_configurations.rst
   tutorial_recording_and_playback.rst
   run_perceptor_on_devkit.rst
   run_perceptor_on_carter.rst
   run_perceptor_on_rgbd.rst
   run_perceptor_in_sim.rst
   tutorial_mapping_and_localization.rst

Packages
--------

The Isaac ROS implementation of Isaac Perceptor is in these packages:

.. toctree::
    :maxdepth: 1
    :glob:

    packages/**/index

Other Details
-------------

.. toctree::
   :maxdepth: 1
   :glob:

   technical_details.rst
   troubleshooting.rst