This code can be cloned using the following command

git clone https://github.com/laurenbramblett/NBV_Photography_Inspection/

After cloning, a user may run either of the two samples in matlab.

• targetCoverage_NBV_Proposed.m is our proposed approach using novel metrics to determine the best waypoint
• targetCoverage_withFrontiers.m is a comparison approach that takes and stores pictures without regard for picture quality or storage capacity

If using this repository for research, please cite our work:

@article{gaonext,
  title={Next-Best-View-based Task and Motion Planning for Autonomous Photography \& Inspection},
  author={Gao, Shijie and Bramblett, Lauren and Bezzo, Nicola}
}