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/
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
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}
}
- Ubuntu 16.04/18.04
- Intel cpu
- ROS Kinetic (follow the instructions on http://wiki.ros.org/kinetic)
source prepare.sh
mkdir build
cd build
cmake ..
make -j
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