KFU. Card publication. Automatic tool for Gazebo world construction: From a grayscale image to a 3D solid model

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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 presentation

Conference proceedings in international journals and collections

Year of publication

2020

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Authors, employees of KFU

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., Yakovlev K., Svinin M., and Magid E. Automatic Tool for Gazebo World Construction: From a Grayscale Image to a 3D Solid Model // International Conference on Robotics and Automation (ICRA) (Paris, France; 31 May - 31 August 2020) - p. 7226-7232.

Annotation

International Conference on Robotics and Automation (ICRA)

Keywords

ROS, Gazebo, simulation, virtual environment

The name of the journal

International Conference on Robotics and Automation (ICRA)

URL

https://ieeexplore.ieee.org/document/9196621

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

https://repository.kpfu.ru/eng/?p_id=240255&p_lang=2

Resource files

File name	Size (MB)	Format
ICRA_2020_Final_paper__from_proceedings.pdf	2,93	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Abbyasov Bulat Rivalevich	ru_RU
dc.contributor.author	Zakiev Aufar Azatovich	ru_RU
dc.contributor.author	Lavrenov Roman Olegovich	ru_RU
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.date.accessioned	2020-01-01T00:00:00Z	ru_RU
dc.date.available	2020-01-01T00:00:00Z	ru_RU
dc.date.issued	2020	ru_RU
dc.identifier.citation	Abbyasov B., Lavrenov R., Zakiev A., Yakovlev K., Svinin M., and Magid E. Automatic Tool for Gazebo World Construction: From a Grayscale Image to a 3D Solid Model // International Conference on Robotics and Automation (ICRA) (Paris, France; 31 May - 31 August 2020) - p. 7226-7232.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=240255&p_lang=2	ru_RU
dc.description.abstract	International Conference on Robotics and Automation (ICRA)	ru_RU
dc.description.abstract	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.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	ROS	ru_RU
dc.subject	Gazebo	ru_RU
dc.subject	simulation	ru_RU
dc.subject	virtual environment	ru_RU
dc.title	Automatic tool for Gazebo world construction: From a grayscale image to a 3D solid model	ru_RU
dc.type	Conference proceedings in international journals and collections	ru_RU