Autonomous Implicit Indoor Scene Reconstruction with Frontier Exploration

Accepted by ICRA 2024 (AIISRFE).

Project Page: https://small-zeng.github.io/AIISRFE/
Paper Link: https://arxiv.org/abs/2404.10218

Unity Project in Windows

Please refer to Install Unity and Visual Studio on Windows. Our environment includes Unity 2019.4.40 and Visual Studio 2019. Please make sure installed environment is not lower than this version.

Installation

git clone https://github.com/small-zeng/AIISRFE.git
cd AIISRFE

Install with conda in Ubuntu

conda env create -f environment.yml
conda activate EVPP

1. Run Unity Project

After install Unity Editor and Visual Studio, you can start it by click RUN button in Unity Editor.

2. Open one terminal and start reconstruction service:

cd monosdfServer_unity
python manage.py runserver 0.0.0.0:7000

3. Open another terminal and start planner service:

Make sure that the Windows and Ubuntu machines are on the same local network. The planner is modified from Fuel.

catkin_make
source devel/setup.sh
roslaunch exploration_manager rviz.launch
roslaunch exploration_manager exploration_multi_room.launch

BibTeX

@article{zeng2024autonomous,
  title={Autonomous Implicit Indoor Scene Reconstruction with Frontier Exploration},
  author={Zeng, Jing and Li, Yanxu and Sun, Jiahao and Ye, Qi and Ran, Yunlong and Chen, Jiming},
  journal={arXiv preprint arXiv:2404.10218},
  year={2024}
}

Acknowledgement

Use this code under the MIT License. No warranties are provided. Keep the laws of your locality in mind!

Please refer to torch-ngp#acknowledgement for the acknowledgment of the original repo.