| Title: | 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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