| Форма представления | Статьи в зарубежных журналах и сборниках |
| Год публикации | 2015 |
| Язык | английский |
|
Магид Евгений Аркадьевич, автор
|
| Библиографическое описание на языке оригинала |
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. |
| Аннотация |
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. |
| Ключевые слова |
SLAM, ROS, Gazebo, Navigation, localization and mapping, Image-based 3D model, Laser rangefinder, Robot simulators. |
| Название журнала |
Lecture Notes in Computer Science
|
| URL |
https://link.springer.com/chapter/10.1007/978-3-319-25903-1_24 |
| Пожалуйста, используйте этот идентификатор, чтобы цитировать или ссылаться на эту карточку |
https://repository.kpfu.ru/?p_id=149752 |
| Файлы ресурса | |
|
|
Полная запись метаданных  |
| Поле DC |
Значение |
Язык |
| dc.contributor.author |
Магид Евгений Аркадьевич |
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/?p_id=149752 |
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 |
Статьи в зарубежных журналах и сборниках |
ru_RU |
|
EN 
中文 
ES 
Карта сайта
