Multi-Robot Collaborative Dense Scene Reconstruction (SIGGRAPH 2019)

We provide the implementation of the optimal-mass-transport algorithm tailored for collaborative scanning along with virtual scan examples, on top of ROS.

Requirements

This package depends on OpenCV, CGAL and OctoMap. Please install these libraries first.

Download and Installation

catkin_ws/src$ git clone https://github.com/siyandong/CoScan.git
catkin_ws$ catkin_make_isolated

Run

roslaunch virtual_scan simulator.launch

roslaunch virtual_scan data_sever.launch

rosrun co_scan co_scan

Citation

If you use this code for your research, please cite our paper:

@article{dong2019multi,
  title={Multi-robot collaborative dense scene reconstruction},
  author={Dong, Siyan and Xu, Kai and Zhou, Qiang and Tagliasacchi, Andrea and Xin, Shiqing and Nie{\ss}ner, Matthias and Chen, Baoquan},
  journal={ACM Transactions on Graphics (TOG)},
  volume={38},
  number={4},
  pages={84},
  year={2019},
  publisher={ACM}
}