This is a real-time 3D perception system that includes 3D reconstruction, instance segmentation, and real-time rendering with a multi-resolution voxel space.
Thanks to bundlefusion for its great contribution, some of our code comes from them.
Project video is available here.
More information about this project can be found in our paper (not yet published).
The code was developed under VS2017, and tested with an intel Realsense D435i.
We tested our code on:
- DirectX SDK June 2010
- NVIDIA CUDA 11.5 (>=8.0)
- Realsense SDK2.0
- our research library mLib, a git submodule in external/mLib here
- mLib external libraries can be downloaded here
- Intel OpenVINO 2021.4.689
- Opencv with OpenVINO
Optional:
- Kinect SDK (2.0 and above)
- Prime sense SDK
If you have any questions, please email us at zhu_hao_wei@163.com.