3DKSL

Repository for Kinematic Structure Learning (KSL) methods of articulated rigid objects. For more information and more open-source software please visit the Personal Robotic Lab's website: https://www.imperial.ac.uk/personal-robotics/software/.

Offline 3DKSL

Offline 3DKSL performs motion segmentation of articulated rigid bodies from a batch of RGB-D data sequence. If you use this code in a scientific publication, please cite the following paper:

@inproceedings{nunes18motionseg,
  author    = {Urbano Miguel Nunes and Yiannis Demiris},
  booktitle = {Proceedings of the British Machine Vision Conference ({BMVC})},
  title     = {3D Motion Segmentation of Articulated Rigid Bodies based on RGB-D Data},
  year      = {2018}
}

Online 3DKSL

Online 3DKSL performs motion segmentation of articulated rigid bodies from RGB-D data in a frame-by-frame basis. If you use this code in a scientific publication, please cite the following paper:

@inproceedings{nunes19online3Dksl,
  author    = {Nunes, Urbano Miguel and Demiris, Yiannis},
  booktitle = {The IEEE International Conference on Computer Vision (ICCV)},
  month     = {October},
  title     = {Online Unsupervised Learning of the 3D Kinematic Structure of Arbitrary Rigid Bodies},
  year      = {2019}
} 

Requirements

• Dependencies

1. PCL library: http://pointclouds.org/downloads/linux.html
2. OpenCV: https://docs.opencv.org/trunk/d7/d9f/tutorial_linux_install.html
3. Cuda: http://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html
4. Eigen: http://eigen.tuxfamily.org/index.php?title=Main_Page#Download
5. libigl: https://github.com/libigl/libigl
6. Spectra: https://spectralib.org
7. igraph: https://igraph.org/c/

• General

On a terminal:

1. git clone https://github.com/ImperialCollegeLondon/3DKSL.git
2. cd 3DKSL
3. mkdir build && cd build
4. cmake .. -DCMAKE_BUILD_TYPE=Release && make

Offline 3DKSL Example

An executable is provided as an example, which will be located in the bin directory. A path to the directory containing the RGB data sequence must be provided, as well as a path to the directory containing the corresponding Depth data sequence. A last parameter must be provided which corresponds to how many points must be initially sub-sampled from the point cloud (e.g. 1000-1500).

• Example

./example_offline_sf_ksl path-to-RGB-dir path-toDepth-dir number-sub-samples

Online 3DKSL Example

An executable is provided as an example, which will be located in the bin directory. A path to the directory containing the RGB data sequence must be provided, as well as a path to the directory containing the corresponding Depth data sequence. Optional parameters may be passed, please check test/main_online_sf_ksl.cpp.

• Example

./example_online_sf_ksl path-to-RGB-dir path-toDepth-dir

License

This project is licensed under the MIT License - see the LICENSE file for details.