Sensor Placement for 3D Coverage

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This work provides solutions for sensor locations to have 3D Coverage (e.g. location for UV lights for sanitization in a bus, train or ICU).

Three Models were studied,

1. Bare Visibility
2. Maximum Quality
3. Cumulative Quality

To run the program, Gurobi and Point Cloud Library are needed. First replace the Gurobi related file path in CMakeList as the actual installation path. Then,

$ mkdir build && cd build
$ cmake ../
$ make
$ mv ../icu_model/model.ply # or a ply file and rename it into model.ply
$ mv ../icu_model/uniform_out.pcd . # or a pcd file and rename it into uniform_out.pcd, should be a sampled point cloud of model.ply
$ ./3d_coverage [parameter1 parameter2 ...] 

For more details of the algorithms, please see

@inproceedings{FenGaoGonYu21ICRA,
    author = {S. W. Feng and K. Gao and J. Gong and J. Yu},
    title = {Sensor Placement for Globally Optimal Coverage of 3D-Embedded Surfaces},
    booktitle={IEEE International Conference on Robotics and Automation},
    year={2021} 
}