https://github.com/jazzpi/nbvplanner

https://github.com/jazzpi/nbvplanner

Last synced: 24 days ago
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• Host: GitHub
• URL: https://github.com/jazzpi/nbvplanner
• Owner: jazzpi
• Created: 2019-08-07T11:53:42.000Z (over 5 years ago)
• Default Branch: master
• Last Pushed: 2019-09-11T13:58:50.000Z (over 5 years ago)
• Last Synced: 2024-11-03T12:28:44.727Z (2 months ago)
• Language: C++
• Size: 13.2 MB
• Stars: 0
• Watchers: 3
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# Receding Horizon Next Best View Planning

The next best view planner is a real-time capable exploration path planner. From the current pose it expands a tree to find a next pose that gives a high exploration gain. This gain reflects the exploration of space that is not yet (sufficiently) known. As the vehicle proceeds on the path, the tree is recomputed, taking into account the new information from the sensor.

This README gives a short overview. For more information refer to the [wiki](https://github.com/ethz-asl/nbvplanner/wiki).

# Planner installation and execution

To run the current version, compile the package nbvplanner. To get it navigate to the source folder of your ros workspace:

```sh

git clone https://github.com/ethz-asl/nbvplanner.git

cd nbvplanner

git submodule init --

git submodule sync --recursive

git submodule update --recursive

cd ..

```

Moreover, make sure you have all the necessary libraries:

```sh

apt-get install ros--octomap-*

apt-get install python-catkin-tools

catkin build

```

For a simulation demo launch

```sh

roslaunch interface_nbvp_rotors flat_exploration.launch

```

Tested under ROS Indigo and Jade.

Further instructions for the visualization of the exploration progress, as well as more demo scenarios and descriptions of the parameters can be found in the [wiki](https://github.com/ethz-asl/nbvplanner/wiki).

If you use this software in a scientific publication, please cite the following paper:

```

@inproceedings{bircher2016receding,

  title={Receding horizon "next-best-view" planner for 3D exploration},

  author={Bircher, Andreas and Kamel, Mina and Alexis, Kostas and Oleynikova, Helen and Siegwart, Roland},

  booktitle={2016 IEEE International Conference on Robotics and Automation (ICRA)},

  pages={1462--1468},

  year={2016},

  organization={IEEE}

}

```

# Credits

This algorithm was developed by [Andreas Bircher](mailto:[email protected]) with the help and support of the members of the [Autonomous Systems Lab](http://www.asl.ethz.ch). The work was supported by the European Commission-funded project [AEROWORKS](http://www.aeroworks2020.eu/).

# Contact

You can contact us for any question or remark:

* [Andreas Bircher](mailto:[email protected])

* [Kostas Alexis](mailto:[email protected])