OS17-1 Experience in Efficient Real Office Environment Modelling in Gazebo: a Tutorial

Publication: ICAROB2022
Volume: 27
Pages: 673-677
ISSN: 2188-7829
DOI: 10.5954/ICAROB.2022.OS17-1
Author(s): Bulat Abbyasov, Kirill Kononov, Tatyana Tsoy, Edgar A. Martínez-García, Evgeni Magid
Publication Date: January 20, 2022
Keywords: 3D modeling, UGV, lidar-based SLAM, Gazebo
Abstract: 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.
PDF File: https://alife-robotics.co.jp/members2022/icarob/data/html/data/OS/OS17/OS17-1.pdf
Copyright: © The authors.
This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited.
See for details: https://creativecommons.org/licenses/by-nc/4.0/

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