Proceedings - IEEE International Conference on Robotics and Automation, pages 7226-7232

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

Publication type: Proceedings Article
Publication date: 2020-05-01
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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.
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Abbyasov B. et al. Automatic tool for Gazebo world construction: From a grayscale image to a 3D solid model // Proceedings - IEEE International Conference on Robotics and Automation. 2020. pp. 7226-7232.
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Abbyasov B., Lavrenov R., Zakiev A., Yakovlev K., Svinin M., Magid E. Automatic tool for Gazebo world construction: From a grayscale image to a 3D solid model // Proceedings - IEEE International Conference on Robotics and Automation. 2020. pp. 7226-7232.
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TY - CPAPER
DO - 10.1109/ICRA40945.2020.9196621
UR - https://doi.org/10.1109%2FICRA40945.2020.9196621
TI - Automatic tool for Gazebo world construction: From a grayscale image to a 3D solid model
T2 - Proceedings - IEEE International Conference on Robotics and Automation
AU - Abbyasov, Bulat
AU - Lavrenov, Roman
AU - Zakiev, Aufar
AU - Yakovlev, Konstantin
AU - Svinin, M.
AU - Magid, Evgeni
PY - 2020
DA - 2020/05/01 00:00:00
SP - 7226-7232
ER -
BibTex
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@inproceedings{2020_Abbyasov,
author = {Bulat Abbyasov and Roman Lavrenov and Aufar Zakiev and Konstantin Yakovlev and M. Svinin and Evgeni Magid},
title = {Automatic tool for Gazebo world construction: From a grayscale image to a 3D solid model},
year = {2020},
pages = {7226--7232},
month = {may}
}
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