Kazan (Volga region) Federal University, KFU
KAZAN
FEDERAL UNIVERSITY
 
DCEGEN: DENSE CLUTTER ENVIRONMENT GENERATION TOOL FOR AUTONOMOUS 3D EXPLORATION AND COVERAGE ALGORITHMS TESTING
Form of presentationArticles in international journals and collections
Year of publication2019
Языканглийский
  • Lavrenov Roman Olegovich, author
  • Magid Evgeniy Arkadevich, author
  • Sagitov Artur Gazizovich, author
  • Su Kuo-Lan , author
  • Svinin Mikhail , author
  • Denisov Evgeniy Valerevich, author
  • Bibliographic description in the original language Denisov E. DCEGen: Dense Clutter Environment Generation Tool for Autonomous 3D Exploration and Coverage Algorithms Testing / Sagitov A., Lavrenov R., Su K.-L., Svinin M., Magid E. // Lecture Notes in Computer Science. - 2019. - Vol. 11659. - p. 216-225.
    Annotation Autonomous exploration and coverage in 3D environments recently has became a rapidly developing research field. Emerging 3D reconstruction methods, designed specifically for exploration and coverage, allows capturing an environment in a greater details. However, not much work addresses certain difficulties inherent to dense clutter environments. We observed those difficulties and made an attempt that seeks to expand the applicability of such methods to more demanding scenarios. Automating the process of testing and evaluation by designing a dense clutter environment generation algorithm (DCEGen) allows us to measure comparative performance of available algorithms. We focus on path-planning algorithms used in an unmanned ground vehicles. The algorithm was implemented and verified using Gazebo simulator.
    Keywords Mobile robot, Gazebo simulation, ROS, Dense clutter environment, 3D environment, reconstruction, Autonomous exploration and coverage algorithm, Next-best-view,
    The name of the journal Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
    URL https://link.springer.com/chapter/10.1007/978-3-030-26118-4_21
    Please use this ID to quote from or refer to the card https://repository.kpfu.ru/eng/?p_id=209119&p_lang=2
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