OS17-1 Experience in Efficient Real Office Environment Modelling in Gazebo: a Tutorial
|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.|
|Copyright:||© The authors.
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