This repository is a colcon workspace. You can learn more about colcon here.
git clone git@github.com:gira3d/gira3d-occupancy-modeling.git --recursive
cd gira3d-occupancy-modeling
python3.8 -m venv .venv
source .venv/bin/activate
pip install --upgrade pip
pip install numpy colcon-common-extensions
./build.sh
Once the sandbox is built you will also need to install the following:
pip install tqdm matplotlib open3d pyyaml
Ubuntu 18.04 additionally requires that you install the following for plotting:
sudo apt install python3-tk
We use MkDocs to document this codebase. To install and run documentation, please do the following:
cd /path/to/gira3d-occupancy-modeling
source workon
pip install mkdocs mkdocs-material
mkdocs serve
Now open a web browser and go to localhost to view the documentation. Documentation for tutorials and examples that use one or more of the submodules is provided.
This software has been tested on the following operating systems:
- Ubuntu 20.04
- Ubuntu 18.04
If you use this work in your own research, please cite the following publications:
- C. O’Meadhra, W. Tabib, and N. Michael, “Variable Resolution Occupancy Mapping Using Gaussian Mixture Models,” IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 2015–2022, Apr. 2019, doi: 10.1109/LRA.2018.2889348.
- W. Tabib, K. Goel, J. Yao, M. Dabhi, C. Boirum, and N. Michael, “Real-Time Information-Theoretic Exploration with Gaussian Mixture Model Maps,” in Robotics: Science and Systems XV, Jun. 2019. doi: 10.15607/RSS.2019.XV.061.
- W. Tabib, K. Goel, J. Yao, C. Boirum, and N. Michael, “Autonomous Cave Surveying With an Aerial Robot,” IEEE Transactions on Robotics, pp. 1–17, 2021, doi: 10.1109/TRO.2021.3104459.