RC3DR

Robot-controlled 3D reconstruction

This project is heavily based on the following two papers:

• Xinyi Fan, Linguang Zhang, Benedict Brown, and Szymon Rusinkiewicz. 2016. Automated view and path planning for scalable multi-object 3D scanning. ACM Trans. Graph. 35, 6, Article 239 (November 2016), 13 pages. DOI:https://doi.org/10.1145/2980179.2980225
• R. A. Newcombe et al., "KinectFusion: Real-time dense surface mapping and tracking," 2011 10th IEEE International Symposium on Mixed and Augmented Reality, Basel, 2011, pp. 127-136.

To get startet have a look at the jupyter notebook RC3DR.ipynb. Note, the jupyter notebook is testet in Firefox and the WebApp in Chrome.

Required packages:

• numpy
• scipy
• numba
• python-socketio
• tornado
• skimage
• igl
• pyquaternion

You will also need a Cuda enabled GPU.