КФУ. Карточка публикации. DCEGen: Dense clutter environment generation tool for autonomous 3D exploration and coverage algorithms testing

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DCEGEN: DENSE CLUTTER ENVIRONMENT GENERATION TOOL FOR AUTONOMOUS 3D EXPLORATION AND COVERAGE ALGORITHMS TESTING

Форма представления

Статьи в зарубежных журналах и сборниках

Год публикации

2019

Язык

английский

Авторы, сотрудники КФУ

Лавренов Роман Олегович, автор

Магид Евгений Аркадьевич, автор

Сагитов Артур Газизович, автор

Другие авторы

Su Kuo-Lan , автор

Свинин Михаил , автор

Авторы, студенты КФУ

Денисов Евгений Валерьевич, автор

Библиографическое описание на языке оригинала

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.

Аннотация

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.

Ключевые слова

Mobile robot, Gazebo simulation, ROS, Dense clutter environment, 3D environment, reconstruction, Autonomous exploration and coverage algorithm, Next-best-view,

Название журнала

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

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https://repository.kpfu.ru/?p_id=209119

Файлы ресурса

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Полная запись метаданных

Поле DC	Значение	Язык
dc.contributor.author	Лавренов Роман Олегович	ru_RU
dc.contributor.author	Магид Евгений Аркадьевич	ru_RU
dc.contributor.author	Сагитов Артур Газизович	ru_RU
dc.contributor.author	Su Kuo-Lan	ru_RU
dc.contributor.author	Свинин Михаил	ru_RU
dc.contributor.author	Денисов Евгений Валерьевич	ru_RU
dc.date.accessioned	2019-01-01T00:00:00Z	ru_RU
dc.date.available	2019-01-01T00:00:00Z	ru_RU
dc.date.issued	2019	ru_RU
dc.identifier.citation	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.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/?p_id=209119	ru_RU
dc.description.abstract	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)	ru_RU
dc.description.abstract	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.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Mobile robot	ru_RU
dc.subject	Gazebo simulation	ru_RU
dc.subject	ROS	ru_RU
dc.subject	Dense clutter environment	ru_RU
dc.subject	3D environment	ru_RU
dc.subject	reconstruction	ru_RU
dc.subject	Autonomous exploration and coverage algorithm	ru_RU
dc.subject	Next-best-view	ru_RU
dc.subject		ru_RU
dc.title	DCEGen: Dense clutter environment generation tool for autonomous 3D exploration and coverage algorithms testing	ru_RU
dc.type	Статьи в зарубежных журналах и сборниках	ru_RU