Code and Dataset of the paper "Real-Time Mesh-based Scene Estimation for Aerial Inspection" - IROS 2016

Real-Time Mesh-based Scene Estimation for Aerial Inspection

Video

Related Publication:

If you use our Code or Datasets in a scientific work, please cite the following publication:

Lucas Teixeira and Margarita Chli, "Real-Time Mesh-based Scene Estimation for Aerial Inspection", in Proceedings of the IEEE/RSJ Conference on Intelligent Robots and Systems (IROS), 2016.

 @inproceedings{Teixeira:etal:IROS2016,
title	= {{Real-Time Mesh-based Scene Estimation for Aerial Inspection}},
author	= {Lucas Teixeira and Margarita Chli},
booktitle	= {Proceedings of the {IEEE/RSJ} Conference on Intelligent Robots and Systems({IROS})},
year	= {2016}
}

Qualitative Result

You can reproduce our qualitative result using this bagfile. You can also visualize the point-cloud on the RViz software together with the laserscan of the facade.

Datasets

Aerial 1

Bagfile - https://drive.google.com/open?id=0B82ekrhU9sDmTTdIeFJXTlBBLVE

Aerial 2

Bagfile - https://drive.google.com/open?id=0B82ekrhU9sDmNjZiMTUxUWlHcnc

Aerial 3

Bagfile - https://drive.google.com/open?id=0B82ekrhU9sDmOUkzX2xrMWRSMEE

Ground

Bagfile - https://drive.google.com/open?id=0B82ekrhU9sDmTjVweklrNGdJTjA