Kazan (Volga region) Federal University, KFU
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FEDERAL UNIVERSITY
 
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AUTOMATIC TOOL FOR GAZEBO WORLD CONSTRUCTION: FROM A GRAYSCALE IMAGE TO A 3D SOLID MODEL
Form of presentationArticles in international journals and collections
Year of publication2020
Языканглийский
  • Abbyasov Bulat Rivalevich, author
  • Zakiev Aufar Azatovich, author
  • Lavrenov Roman Olegovich, author
  • Magid Evgeniy Arkadevich, author
  • Bibliographic description in the original language Abbyasov B, Lavrenov R, Zakiev A, Automatic tool for Gazebo world construction: From a grayscale image to a 3D solid model//Proceedings - IEEE International Conference on Robotics and Automation. - 2020. - Vol., Is.. - P.7226-7232.
    Annotation Robot simulators provide an easy way for evaluation of new concepts and algorithms in a simulated physical environment reducing development time and cost. Therefore it is convenient to have a tool that quickly creates a 3D landscape from an arbitrary 2D image or 2D laser range finder data. This paper presents a new tool that automatically constructs such landscapes for Gazebo simulator. The tool converts a grayscale image into a 3D Collada format model, which could be directly imported into Gazebo. We run three different simultaneous localization and mapping (SLAM) algorithms within three varying complexity environments that were constructed with our tool. A real-time factor (RTF) was used as an efficiency benchmark. Successfully completed SLAM missions with acceptable RTF levels demonstrated the efficiency of the tool. The source code is available for free academic use.
    Keywords ROS, Gazebo, simulation, virtual environment
    The name of the journal Proceedings - IEEE International Conference on Robotics and Automation
    URL https://www.scopus.com/inward/record.uri?eid=2-s2.0-85091292164&doi=10.1109%2fICRA40945.2020.9196621&partnerID=40&md5=dec6dbbd0e1766934490cc792b09e02a
    Please use this ID to quote from or refer to the card https://repository.kpfu.ru/eng/?p_id=240255&p_lang=2
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