iDFusion: Globally Consistent Dense 3D Reconstruction from RGB-D and Inertial Measurements.

Introduction

This is the official code repository for iDFusion, which integrates the global optimization of IMU information into FlashFusion.

This is a project from LuVision SIGMA, Tsinghua University. Visit our website for more interesting works: http://www.luvision.net/

License

This project is released under the GPLv3 license. We only allow free use for academic use. For commercial use, please contact us to negotiate a different license by: fanglu at tsinghua.edu.cn

Citing

If you find our code useful, please kindly cite our paper:

@inproceedings{zhong2019idfusion,
  title={iDFusion: Globally Consistent Dense 3D Reconstruction from RGB-D and Inertial Measurements},
  author={Zhong, Dawei and Han, Lei and Fang, Lu},
  booktitle={Proceedings of the 27th ACM International Conference on Multimedia},
  pages={962--970},
  year={2019}
}
@inproceedings{han2018flashfusion,
  title={FlashFusion: Real-time Globally Consistent Dense 3D Reconstruction using CPU Computing.},
  author={Han, Lei and Fang, Lu},
  booktitle={Robotics: Science and Systems},
  volume={1},
  number={6},
  pages={7},
  year={2018}
}

Environment setup

Preliminary Requirements:

Ubuntu 16.04/18.04
Intel cpu
ROS Kinetic (follow the instructions on http://wiki.ros.org/kinetic)

Compile

source prepare.sh
mkdir build
cd build
cmake ..
make -j

Usage

Download the dataset at http://153.35.185.228:81/opensource_data/id_fusion/dataset_idfusion.tar.gz

1. Start ros:     ./roscore
2. Run iDFusion:  ./af
3. Publish data:  ./rosbag play 0.bag

THU-luvision/iDFusion