Project

General

• Name: VIRUS-NeRF - Vision, InfraRed and UltraSonic based Neural Radiance Fields
• Authors: Nicolaj Schmid ([email protected]), Cornelius von Einem, Cesar Cadena, Roland Siegwart, Lorenz Hruby and Florian Tschopp
• Keywords: local mapping, NeRF, implicit neural representation, Instant-NGP, occupancy grid, low-cost sensors, infrared sensor, ultrasonic sensor, camera

Abstract

Autonomous mobile robots are an increasingly integral part of modern factory and warehouse operations. Obstacle detection, avoidance and path planning are critical safety-relevant tasks, which are often solved using expensive LiDAR sensors and depth cameras. We propose to use cost-effective low-resolution ranging sensors, such as ultrasonic and infrared time-of-flight sensors by developing VIRUS-NeRF - Vision, InfraRed, and UltraSonic based Neural Radiance Fields.

Building upon Instant-NGP, VIRUS-NeRF incorporates depth measurements from ultrasonic and infrared sensors and utilizes them to update the occupancy grid used for ray marching. Experimental evaluation in 2D demonstrates that VIRUS-NeRF achieves comparable mapping performance to LiDAR point clouds regarding coverage. Notably, in small environments, its accuracy aligns with that of LiDAR measurements, while in larger ones, it is bounded by the utilized ultrasonic sensors. An in-depth ablation study reveals that adding ultrasonic and infrared sensors is highly effective when dealing with sparse data and low view variation. Further, the proposed occupancy grid of VIRUS-NeRF improves the mapping capabilities and increases the training speed by 46% compared to Instant-NGP. Overall, VIRUS-NeRF presents a promising approach for cost-effective local mapping in mobile robotics, with potential applications in safety and navigation tasks.

Code

Installation

VIRUS-NeRF

1. Navigate to the desired directory
2. Clone this repository
3. Make sure that the requirements indicated in requirements.txt are met

Sample Dataset

• Contains one second of the ETHZ-office dataset (see sample_dataset).

Dataset Collection

1. Install ROS1
2. Create a catkin workspace in USS_experiments/catkin_ws
3. Install the following packages inside USS_experiments/catkin_ws/src to create a new dataset: BALM, KISS-ICP, Rosserial, RS-to-Velodyne and Timed Roslaunch
4. Install the following packages inside USS_experiments/catkin_ws/src to calibrate the sensors: Camera-LiDAR Calibration and Kilibr

Running

VIRUS-NeRF

Choose the desired hyper-parameters as described below. Then execute one of the following scripts:

• Single run: run.py
• PSO optimization: run_optimization.py
• Ablation study: run_ablation.py
• Relaunch optimization continuously to circumvent memory leak of Taichi Instant-NGP implementation: watch_optimization.py
• Relaunch ablation continuously to circumvent memory leak of Taichi Instant-NGP implementation: watch_ablation.py

USS Experiments

1. Connect Arduino and USS
2. Flash Arduino with the desired script
3. Execute USS_experiments/read_data.py

Dataset Collection

1. Connect Arduino and sensor stacks (USS, IRS and camera)
2. Flash Arduino with ETHZ_experimens/Arduino/sensor_stack/sensor_stack.ino
3. Navigate to: ETHZ_experimens/catkin_ws/src/sensors/
4. Launch logging file to collect the data in Rosbags: roslaunch sensors Launch/stack_log.launch
5. Crop Rosbag to have correct start and ending time: rosbag filter
6. Create LiDAR poses file and Rosbag with filtered LiDAR pointcloud by launching: roslaunch sensors Launch/lidarFilter_poseEstimation.launch
7. Read out filtered LiDAR pointcloud as pcd files: rosrun pcl_ros bag_to_pcd lidar_filtered.bag /rslidar_filtered ./lidars/filtered
8. Create dataset for BALM: run src/data_tools/main_balm.py
9. Optimize poses with BALM: roslaunch balm2 ethz_dataset.launch
10. Create ground truth maps: run src/pcl_tools/pcl_merge.py
11. Synchronize data: run src/data_tools/main_syncData.py
12. Create final dataset: run src/data_tools/main_rosbag2dataset.py
13. Create pose lookup tables run src/data_tools/main_createPoseLookupTables.py
14. Visualize dataset: roslaunch sensors Launch/simulation.launch

Hyper-Parameters VIRUS-NeRF

The hyper-parameters can be set in the json files of the directory args:

Cathegory	Name	Meaning	Type	Options
dataset	name	dataset name	ETHZ or RH2 (Robot@Home2)
dataset	spli_ratio	train, validation and test split ratios	dict of floats	must sum up to 1
dataset	keep_N_observations	number of samples to load	int
dataset	keep_sensor	sensor name to use; only available with RH2 dataset	str	"all" means all sensors; "RGBD", "USS" or "ToF"
dataset	sensors	sensors to load	list of str	"RGBD", "USS" or "ToF"
model	ckpt_path	checkpoint path to load	bool or str	false means to start training from skratch
model	scale	scale of normalized scene	float
model	encoder_type	encoder type	str	"hash" or "triplane"
model	hash_levels	number of hash levels	int
model	hash_max_res	resolution of finest hash level	int
model	grid_type	type of occupancy grid	str	"occ" (VIRUS-NeRF) or "ngp" (Instant-NGP)
model	save	save model after training	bool
training	batch_size	training batch size	int
training	sampling_strategy	sampling strategy for images and pixels	dict	images: "all" or "same"; pixels: "entire_img", "random", "valid_uss" or "valid_tof"
training	sensors	sensors used for training	list of str	"RGBD", "USS" or "ToF"
training	max_steps	maximum amount of training steps	int
training	max_time	maximum amount of training time	float
training	lr	learning rate	float
training	rgbd_loss_w	loss weight of RGBD sensor	float
training	tof_loss_w	loss weight of IRS (ToF) sensor	float
training	uss_loss_w	loss weight of USS sensor	float
training	color_loss_w	loss weight of camera	float
training	debug_mode	test intermediate results	bool
training	real_time_simulation	simulate measurements been done in real-time experiment	bool
evaluation	batch_size	evaluation batch size	int
evaluation	res_map	side length resolution of evaluation maps	int
evaluation	eval_every_n_steps	intermediate evaluation every given steps	int
evaluation	num_color_pts	number of colour images to evaluate after training	int
evaluation	num_depth_pts	number of depth scans to evaluate after training	int
evaluation	num_plot_pts	number of intermediate depth scans to evaluate during training	int
evaluation	height_tolerance	distance to consider above and bellow measurements for evaluation	float
evaluation	density_map_thr	density threshold for occupancy grid plots	float
evaluation	inlier_threshold	inlier/outlier theshold distance in meters for NND plots	float
evaluation	zones	definition of zone ranges	dict of lists
evaluation	sensors	sensors to evaluate	list of str	"GT", "USS", "ToF", "LiDAR" or "NeRF"
evaluation	plot_results	wheather to generate plots	bool
ngp_grid	update_interval	update grid every given steps	int
ngp_grid	warmup_steps	sample all cells for the given first steps	int
occ_grid	batch_size	batch size of occupancy grid update	int
occ_grid	update_interval	update grid every given steps	int
occ_grid	decay_warmup_steps	reduce cell values exponentially for given number of steps	int
occ_grid	batch_ratio_ray_update	ratio of Depth-Update; the rest will be NeRF-Update	float	between 0 and 1
occ_grid	false_detection_prob_every_m	false detection probability of sensor model (Depth-Update) every meter	float
occ_grid	std_every_m	standard deviation of sensor model (Depth-Update) every meter	float
occ_grid	nerf_pos_noise_every_m	position noise added during NeRF-Update	float
occ_grid	nerf_threshold_max	maximum density threshold for NeRF-Update	float
occ_grid	nerf_threshold_slope	density convertion slope for NeRF-Update	float
ethz	dataset_dir	path to dataset directory	str
ethz	room	name of envrionment	str	"office", "office2", "commonroom", "commonroom2", "corridor"
ethz	cam_ids	camera identity numbers to load	list of str	"CAM1" or "CAM3"
ethz	use_optimized_poses	use optimized poses	bool
RH2	dataset_dir	path to dataset directory	str
RH2	session	session name	str
RH2	home	home name	str
RH2	room	room name	str
RH2	subsession	subsession name	str
RH2	home_session	home session id	str
RGBD	angle_of_view	angle of view of depth camera in degrees	list of float
USS	angle_of_view	ellipsoid angle of view of USS in degrees	list of float
USS	angle_of_view	angle of view of IRS (ToF) in degrees	list of float
USS	matrix	number of beams	list of ints
USS	sensor_calibration_error	angular calibration error added to IRS (ToF) measurements in degrees	float
USS	sensor_random_error	add random error to IRS (ToF) depth measurement in meters	float
LiDAR	angle_min_max	field of view of LiDAR for given rooms	dict of lists

Citations

Code

The Taichi Instant-NGP implementation is used for this project. All Taichi code is contained inside the modules directory (except of modules/grid.py and modules/occupancy_grid.py which are written by us).

Algorithm

VIRUS-NeRF is based on Instant-NGP: Müller, T., Evans, A., Schied, C., and Keller, A. (2022). Instant neural graphics primitives with a multiresolution hash encoding. ACM Transactions on Graphics (ToG).