This repository contains the active 3D reconstruction library described in the paper: "An Information Gain Formulation for Active Volumetric 3D Reconstruction" by Isler et al. (ICRA 2016).
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Information Gain Based Active Reconstruction

This repository contains the code for information gain based active reconstruction as presented in the paper:

An Information Gain Formulation for Active Volumetric 3D Reconstruction
S. Isler, R. Sabzevari, J. Delmerico and D. Scaramuzza (ICRA 2016)
Video (Youtube)


The ig_active_reconstruction implementation in this repository is research code, any fitness for a particular purpose is disclaimed.

The code has been tested in Ubuntu 14.04 with ROS Indigo.


The source code is released under a GPLv3 licence.


If you use ig_active_reconstruction in an academic context, please cite the following publication:

  title={An Information Gain Formulation for Active Volumetric 3D Reconstruction},
  author={Isler, Stefan and Sabzevari, Reza and Delmerico, Jeffrey and Scaramuzza, Davide},
  booktitle={IEEE International Conference on Robotics and Automation (ICRA)},

Install and run ig_active_reconstruction

The wiki

contains instructions on how to build and run the code.


Thanks to Pavel Vechersky for his key contributions, as well as to Elias Mueggler, Matthias Faessler, and Junjie Zhang for their valuable feedback.


You are very welcome to contribute to ig_active_reconstruction by opening a pull request via Github. We try to follow the ROS C++ style guide