自动映射和过滤工具:从基于传感器的占用网格到3D凉亭八坐标图

Roman Lavrenov, A. Zakiev, E. Magid
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引用次数: 15

摘要

如今,机器人仿真为测试机器人系统的新算法提供了重要的支持,用于广泛的任务领域,包括导航、测绘和SLAM。在模拟中,应特别注意提供具有真实测试环境的算法,以便进一步用于机器人导航。本文介绍了一种自动工具,可以在凉亭模拟中创建逼真的景观,这是基于真实世界的基于传感器的探索结果。该工具提供自动过滤和导入占用网格地图到Gazebo框架作为高度图。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Automatic mapping and filtering tool: From a sensor-based occupancy grid to a 3D Gazebo octomap
Robot simulations nowadays provide significant support in testing new algorithms for robotic systems for a broad area of tasks, including navigation, mapping, and SLAM. Within a simulation, special attention should be paid for providing algorithms with realistic testing environments that are to be further used for robot navigation. This paper presents an automatic tool that allows creating realistic landscapes in Gazebo simulation, which are based on results of real world sensor-based exploration. The tool provides automatic filtering and importing of an occupancy grid map into Gazebo framework as a heightmap.
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