Information Gain Based Active Reconstruction

This repository contains the code for information gain based active reconstruction, presented in the papers:

An Information Gain Formulation for Active Volumetric 3D Reconstruction
S. Isler, R. Sabzevari, J. Delmerico and D. Scaramuzza (ICRA 2016)
Paper: http://rpg.ifi.uzh.ch/docs/ICRA16_Isler.pdf
Video (Youtube)

and

A comparison of volumetric information gain metrics for active 3D object reconstruction
J. Delmerico, S. Isler, R. Sabzevari, and D. Scaramuzza (Autonomous Robots 2017)
Paper: http://rpg.ifi.uzh.ch/docs/AURO17_Delmerico.pdf

If you use this software in a scholarly work, please cite our journal paper:

@article{delmerico2018comparison,
  title={A comparison of volumetric information gain metrics for active 3D object reconstruction},
  author={Delmerico, Jeffrey and Isler, Stefan and Sabzevari, Reza and Scaramuzza, Davide},
  journal={Autonomous Robots},
  volume={42},
  number={2},
  pages={197--208},
  year={2018},
  publisher={Springer}
}

Disclaimer

The ig_active_reconstruction implementation in this repository is research code, any fitness for a particular purpose is disclaimed.

The code has been tested in Ubuntu 14.04 with ROS Indigo.

Licence

The source code is released under a GPLv3 licence.

http://www.gnu.org/licenses/

Citing

If you use ig_active_reconstruction in an academic context, please cite the following publication:

@inproceedings{Isler2016ICRA,
  title={An Information Gain Formulation for Active Volumetric 3D Reconstruction},
  author={Isler, Stefan and Sabzevari, Reza and Delmerico, Jeffrey and Scaramuzza, Davide},
  booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
  year={2016},
  organization={IEEE}
}

Install and run ig_active_reconstruction

The wiki

https://github.com/uzh-rpg/rpg_ig_active_reconstruction/wiki

contains instructions on how to build and run the code.

Acknowledgments

Thanks to Pavel Vechersky for his key contributions, as well as to Elias Mueggler, Matthias Faessler, and Junjie Zhang for their valuable feedback.

Contributing

You are very welcome to contribute to ig_active_reconstruction by opening a pull request via Github. We try to follow the ROS C++ style guide http://wiki.ros.org/CppStyleGuide