This repository contains an implementation of REMODE (REgularized MOnocular Depth Estimation), as described in the paper
http://rpg.ifi.uzh.ch/docs/ICRA14_Pizzoli.pdf
The following video demonstrates the proposed approach:
The REMODE implementation in this repository is research code, any fitness for a particular purpose is disclaimed.
The code has been tested in Ubuntu 12.04, 14.04, 15.04, ROS Groovy, ROS Indigo and ROS Jade.
The source code is released under a GPLv3 licence.
If you use REMODE in an academic context, please cite the following publication:
@inproceedings{Pizzoli2014ICRA,
author = {Pizzoli, Matia and Forster, Christian and Scaramuzza, Davide},
title = {{REMODE}: Probabilistic, Monocular Dense Reconstruction in Real Time},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
year = {2014}
}
The wiki
https://github.com/uzh-rpg/rpg_open_remode/wiki
contains instructions on how to build and run REMODE.
NOTE: this implementation requires a CUDA capable GPU and the NVIDIA CUDA Toolkit
https://developer.nvidia.com/cuda-zone
The author acknowledges the key contributions by Christian Forster and Manuel Werlberger.
You are very welcome to contribute to REMODE by opening a pull request via Github. I try to follow the ROS C++ style guide http://wiki.ros.org/CppStyleGuide