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Depth estimation and 3D mapping

Description

The project is described here

The code estimates the depthmap from the livestream of a USB camera using a Deep Learning algorithm (Midas). Then, 3D points are mapped in 3D, thanks to its position (pixel) and depth, into the camera referential. An Arduino Nano is then used to get the orientation of the robot thanks to an IMU to project the 3D points to a 3D simulation view of the real world.

It can then be embedded in a robot (with a Jetson Nano or similar) to map its environment while rotating around a single axis.

Hardware needed

This code was tested on a Jetson Nano connected to:

  • an USD camera (Logitech C270),
  • an Arduino Nano.

A piece was also printed with a 3D printer to put the electronic boards and camera together.

Installation

  • Use the Arduino IDE to build the code "get_IMU_output_from_Arduino" and flash it to the Arduino Nano
  • Clone the repository to the Jetson Nano
  • (optional) Print solidworks_parts/toprint_main_part.STL and toprint_rotation_piece.STL

Usage

Create a 3D view of a scene

python3 run_3d_mapping -o path/to/save/3dscene/

See a saved 3D scene

  • Clone the repository on a computer
  • run:
python3 run_3d_mapping -s -o path/to/saved/3dscene/

An example is already saved in the repository, to see it:

python3 run_3d_mapping -s -o repo/3d_scene/

When running the code, the behavior should look like the following one:

  • camera view + current orientation of the robot
  • when the robot reached a specific orientation, the depth estimation is used on the current frame
  • current 3D points are projected in the simulation view according to the depth values and the orientation of the robot

Image

The 3D scene was done for the following room:

Image