Experience in Efficient Real Office Environment Modelling in Gazebo: a Tutorial

説明

New robotic solutions should be carefully verified before executing with real robots in real environments. Simulation provides a significant support in testing, but requires test sites with a high level of realism. In this case, 3D modeling can be used to produce the necessary 3D digital representation of real objects with varying difficulty. This article presents a step-by-step tutorial on modeling a realistic office environment. The environment contains a building skeleton frame, windows, building tiles, and furniture. Blender modeling toolset was used to create high-quality 3D models in the Gazebo simulator. The constructed virtual environment was validated with a lidar-based SLAM task for a UGV.

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詳細情報 詳細情報について

  • CRID
    1390291767548316416
  • DOI
    10.5954/icarob.2022.os17-1
  • ISSN
    21887829
  • 本文言語コード
    en
  • データソース種別
    • JaLC
    • Crossref
  • 抄録ライセンスフラグ
    使用不可

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