| Форма представления | Тезисы и материалы конференций в зарубежных журналах и сборниках |
| Год публикации | 2020 |
| Язык | английский |
|
Аббясов Булат Ривалевич, автор
Закиев Ауфар Азатович, автор
Лавренов Роман Олегович, автор
Магид Евгений Аркадьевич, автор
|
| Библиографическое описание на языке оригинала |
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. |
| Аннотация |
International Conference on Robotics and Automation (ICRA) |
| Ключевые слова |
ROS, Gazebo, simulation, virtual environment |
| Название журнала |
International Conference on Robotics and Automation (ICRA)
|
| URL |
https://ieeexplore.ieee.org/document/9196621 |
| Пожалуйста, используйте этот идентификатор, чтобы цитировать или ссылаться на эту карточку |
https://repository.kpfu.ru/?p_id=240255 |
| Файлы ресурса | |
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Полная запись метаданных  |
| Поле DC |
Значение |
Язык |
| dc.contributor.author |
Аббясов Булат Ривалевич |
ru_RU |
| dc.contributor.author |
Закиев Ауфар Азатович |
ru_RU |
| dc.contributor.author |
Лавренов Роман Олегович |
ru_RU |
| dc.contributor.author |
Магид Евгений Аркадьевич |
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/?p_id=240255 |
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 |
Тезисы и материалы конференций в зарубежных журналах и сборниках |
ru_RU |
|
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