Object-Aware View Planning for Autonomous 3D Model Reconstruction of Buildings Using a Mobile Robot

1. Introduction

The view planning approach aims at 3D model reconstruction of buildings using outdoor mobile robot using a solid-state LiDAR and a gimbal. We introduce object awareness into the map representation to reconstruct the specific buildings while ignoring unrelated objects in the environment. Frontier- and sampling-based strategies are combined to plan the view sequences for the effective observation of a target building. Note that this is a extended project of our previous work RAMBO , wherein some unused functions were removed and new functions have been developed.

Authors: Yuxiang Li, Jiancheng Wang, Haoyao Chen from the Networked RObotics and Sytems Lab, Yunhui Liu, and Xin Jiang.

If you use the project for your academic research, please cite the following paper .

@ARTICLE{10132570,
  author={Li, Yuxiang and Wang, Jiancheng and Chen, Haoyao and Jiang, Xin and Liu, Yunhui},
  journal={IEEE Transactions on Instrumentation and Measurement}, 
  title={Object-Aware View Planning for Autonomous 3D Model Reconstruction of Buildings Using a Mobile Robot}, 
  year={2023},
  volume={},
  number={},
  pages={1-1},
  doi={10.1109/TIM.2023.3279424}}

Video&Paper

2. Installation

Tested on Ubuntu 18.04 with ROS Melodic.

• Install Dependencies

sudo apt install libsuitesparse-dev ros-"$ROS_DISTRO"-ros-control 
ros-"$ROS_DISTRO"-controller-manager 
ros-"$ROS_DISTRO"-joint-state-controller 
ros-"$ROS_DISTRO"-effort-controllers 
ros-"$ROS_DISTRO"-ros-controllers 
ros-"$ROS_DISTRO"-gazebo-ros-control 
ros-"$ROS_DISTRO"-transmission-interface 
ros-"$ROS_DISTRO"-velodyne-simulator 
ros-"$ROS_DISTRO"-turtlebot3 
ros-"$ROS_DISTRO"-move-base 
ros-"$ROS_DISTRO"-pointcloud-to-laserscan 
ros-"$ROS_DISTRO"-dwa-local-planner 
ros-"$ROS_DISTRO"-global-planner 
ros-"$ROS_DISTRO"-costmap-converter 
ros-"$ROS_DISTRO"-teb-local-planner 
ros-"$ROS_DISTRO"-octomap-msgs 
ros-"$ROS_DISTRO"-octomap-ros 
binutils-dev

• Clone 3rd-Party Packages. Follow our previous work RAMBO to install the third-party dependencies.

mkdir catkin_ws/src -p
cd catkin_ws/src
git clone https://github.com/HITSZ-NRSL/RAMBO_3rd_party_packages.git

• Compile

cd catkin_ws/src
git clone https://github.com/HITSZ-NRSL/active_mapping_dvc.git
cd ../
catkin build

3. Run Examples

• Gazebo

roslaunch active_mapping mr1000_gazebo_house.launch

• Mapping

roslaunch active_mapping mr1000_ac_house.launch