Next Best View Exploration

Next best view approach for 3D reconstruction

Installing

Follow the steps below to install the simulation environment with all it's dependencies.

cd <catkin_ws>
wstool init src
wstool set -t src nbv_exploration https://github.com/kuri-kustar/nbv_exploration.git --git
wstool merge -t src https://raw.githubusercontent.com/kuri-kustar/nbv_exploration/master/nbv_exploration.rosinstall
wstool update -t src
rosdep install -y -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO
catkin build

Running

To run the main program, run the following commands in two separate terminals:

roslaunch nbv_exploration nbv_setup.launch
roslaunch nbv_exploration nbv_loop.launch

To launch the UAV simulation, run the following instead:

roslaunch nbv_exploration nbv_setup_uav.launch
roslaunch nbv_exploration nbv_loop_uav.launch

Issues

For your first run, you may get the following message:

[pcl::PCDReader::readHeader] Could not find file 'profile_cloud.pcd'.

In that case, open the file config/nbv_settings.yaml and set:

• profiling_skip to false
• profiling_skip_load_map to true

This will create a profile from scratch. If you'd like to skip the profiling stage in future runs, set:

• profiling_skip to true
• profiling_skip_load_map to false

Planned Updates

• Path planning for UAV navigation to frontiers
• 2 sensors for UAV
• Improved frontier viewpoint generation scheme