KFU. Card publication. ROS-Based SLAM for a Gazebo-Simulated Mobile Robot in Image-Based 3D Model of Indoor Environment

KAZAN
FEDERAL UNIVERSITY

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ROS-BASED SLAM FOR A GAZEBO-SIMULATED MOBILE ROBOT IN IMAGE-BASED 3D MODEL OF INDOOR ENVIRONMENT

Form of presentation

Articles in international journals and collections

Year of publication

2015

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Authors, employees of KFU

Magid Evgeniy Arkadevich, author

Bibliographic description in the original language

Afanasyev I. ROS-Based SLAM for a Gazebo-Simulated Mobile Robot in Image-Based 3D Model of Indoor Environment / Sagitov A., Magid E. // Lecture Notes in Computer Science (incl. subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). - 2015. - �9386. - p. 273-283.

Annotation

At present, robot simulators have robust physics engine, high-quality graphics, convenient customer and graphical interfaces, that gives rich opportunities to substitute the real robot by its simulation model, providing the calculation of a robot locomotion by odometry and sensor data. This paper aims at describing a Gazebo simulation approach of simultaneous localization and mapping (SLAM) based on the Robotic operating system (ROS) for a simulated mobile robot with a system of two scanning lasers, which moves in a 3D model of realistic indoor environment. The image-based 3D model of a real room with obstacles was obtained by camera shots and reconstructed by Autodesk 123D Catch software with meshing in MeshLab software. We use the existing Gazebo simulation of the Willow Garage Personal Robot 2 (PR2) with its sensor system, which facilitates the simulation of robot locomotion and sensor measurements for SLAM and navigation tasks.

Keywords

SLAM, ROS, Gazebo, Navigation, localization and mapping, Image-based 3D model, Laser rangefinder, Robot simulators.

The name of the journal

Lecture Notes in Computer Science

URL

https://link.springer.com/chapter/10.1007/978-3-319-25903-1_24

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=149752&p_lang=2

Resource files

File name	Size (MB)	Format
2015_ROS_based_SLAM_for_a_gazebo_simulated_mobile_robot.pdf	1,81	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.date.accessioned	2015-01-01T00:00:00Z	ru_RU
dc.date.available	2015-01-01T00:00:00Z	ru_RU
dc.date.issued	2015	ru_RU
dc.identifier.citation	Afanasyev I. ROS-Based SLAM for a Gazebo-Simulated Mobile Robot in Image-Based 3D Model of Indoor Environment / Sagitov A., Magid E. // Lecture Notes in Computer Science (incl. subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). - 2015. - �9386. - p. 273-283.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=149752&p_lang=2	ru_RU
dc.description.abstract	Lecture Notes in Computer Science	ru_RU
dc.description.abstract	At present, robot simulators have robust physics engine, high-quality graphics, convenient customer and graphical interfaces, that gives rich opportunities to substitute the real robot by its simulation model, providing the calculation of a robot locomotion by odometry and sensor data. This paper aims at describing a Gazebo simulation approach of simultaneous localization and mapping (SLAM) based on the Robotic operating system (ROS) for a simulated mobile robot with a system of two scanning lasers, which moves in a 3D model of realistic indoor environment. The image-based 3D model of a real room with obstacles was obtained by camera shots and reconstructed by Autodesk 123D Catch software with meshing in MeshLab software. We use the existing Gazebo simulation of the Willow Garage Personal Robot 2 (PR2) with its sensor system, which facilitates the simulation of robot locomotion and sensor measurements for SLAM and navigation tasks.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	SLAM	ru_RU
dc.subject	ROS	ru_RU
dc.subject	Gazebo	ru_RU
dc.subject	Navigation	ru_RU
dc.subject	localization and mapping	ru_RU
dc.subject	Image-based 3D model	ru_RU
dc.subject	Laser rangefinder	ru_RU
dc.subject	Robot simulators.	ru_RU
dc.title	ROS-Based SLAM for a Gazebo-Simulated Mobile Robot in Image-Based 3D Model of Indoor Environment	ru_RU
dc.type	Articles in international journals and collections	ru_RU