Code: Real-time Mesh-based Scene Estimation

Using a the feature-​based map of a nominal keyframe-​based SLAM system as an input, this software creates a very fast mesh-​representation of the scene, while filtering out aparently erroneous mesh facades. This has been reported to run at 8ms per frame on a standard laptop (CPU only). This software is released under a GPLv3 (free for research purposes) and can be accessed here. On the same page, you can also access the V4RL Aerial Inspection Dataset that you could try this software on.

Users of this software are asked to cite the following paper, where it was introduced:

Lucas Teixeira and Margarita Chli, "Real-​Time Mesh-​based Scene Estimation for Aerial Inspection", in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016. DOI E-​citations

V4RL

The Vision for Robotics Laboratory focuses on robotic vision-based perception. The group works with small Unmanned Aerial Vehicles (UAVs) in particular, as they are some of the most challenging robotic platforms, however, our research can be applied on any robot in need of perceiving its motion and/or workspace.

Contact

LEE H 304
Vision for Robotics Lab, IRIS, D-MAVT
ETH Zurich
Leonhardstrasse 21
CH-8092 Zurich
Switzerland

Tel: +41 (0)44 632 0838
Fax: +41 (0)44 632 1181
Email: chlim (at) ethz.ch

© Copyright – V4RL 2024.
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