Interactive Scene Reconstruction

Project Page | Paper

This repository contains the implementation of our ICRA2021 paper Reconstructing Interactive 3D Scenes by Panoptic Mapping and CAD Model Alignments. The proposed pipeline reconstructs an interactive indoor scene from RGBD streams, where objects are replaced by (articulated) CAD models. Represented as a contact graph, the reconstructed scene naturally encodes actionable information in terms of environmental kinematics, and can be imported into various simulators to support robot interactions.

The pipeline consists of 3 modules:

• A robust panoptic mapping module that accurately reconstruct the semantics and geometry of objects and layouts, which is a modified version of Voxblox++ but with improved robustness. The 2D image segmentation is obtained using [Detectron2] (https://github.com/facebookresearch/detectron2)
• An object-based reasoning module that constructs a contact graph from the dense panoptic map and replaces objects with aligned CAD models
• An interface that converts a contact graph into a kinematic tree in the URDF format, which can be imported into ROS-based simulators

Todo

• Upload code for panoptic mapping
• Upload submodules for panoptic mapping
• Upload code for CAD replacement
• Upload code for URDF conversion and scene visualization
• Upload dataset and use cases
• Update instructions

1. Installation

1.1 Prerequisites

• Ubuntu 16.04 (with ROS Kinetic) or 18.04 (with ROS Melodic)
• Python >= 3.7
• gcc & g++ >= 5.4
• 3 <= OpenCV < 4
• (Optional) Nvidia GPU (with compatible cuda toolkit and cuDNN) if want to run online segmentation

1.2 Clone the repository & install catkin dependencies

First create and navigate to your catkin workspace

cd <your-working-directory>
mkdir <your-ros-ws>/src && cd <your-ros-ws>

Then, initialize the workspace and configure it. (Remember to replace by your ros version)

catkin init
catkin config --extend /opt/ros/<your-ros-version> --merge-devel 
catkin config --cmake-args -DCMAKE_CXX_STANDARD=14 -DCMAKE_BUILD_TYPE=Release

Download this repository to your ROS workspace src/ folder with submodules via:

cd src
git clone --recursive https://github.com/hmz-15/Interactive-Scene-Reconstruction.git

Then add dependencies specified by .rosinstall using wstool

cd Interactive-Scene-Reconstruction
wstool init dependencies
cd dependencies
wstool merge -t . ../mapping/voxblox-plusplus/voxblox-plusplus_https.rosinstall
wstool merge -t . ../mapping/orb_slam2_ros/orb_slam2_ros_https.rosinstall
wstool update

1.3 Build packages

cd <your-ros-ws>
catkin build orb_slam2_ros perception_ros gsm_node -j2