書誌事項
- タイトル別名
-
- Automatic Construction of Envorinment Model for Simulator Gazebo from Sensor Data
抄録
<p>This paper describes a method for creating a 3D model for Gazebo, a robot simulator. In order to do a simulation in Gazebo, a user has to provide a 3D model of the environment in which robot is simulated. As the environment gets larger, the burden to prepare the 3D model increases. This research aims an automatic construction of 3D models from the data obtained by travel data of a mobile robot. The input point cloud is obtained using 3D LiDAR on a mobile robot and are converted into 3D mesh through the proposed mesh reconstruction process. The model is imported into Gazebo, and a simple experiment was performed to check the availability of the mesh for simulation, and the model was evaluated by comparing the pointcloud obtained in real world against the one obtained from simulation.</p>
収録刊行物
-
- ロボティクス・メカトロニクス講演会講演概要集
-
ロボティクス・メカトロニクス講演会講演概要集 2016 (0), 2A2-07a3-, 2016
一般社団法人 日本機械学会
- Tweet
詳細情報 詳細情報について
-
- CRID
- 1390282680909345536
-
- NII論文ID
- 130007232634
-
- ISSN
- 24243124
-
- 本文言語コード
- ja
-
- データソース種別
-
- JaLC
- Crossref
- CiNii Articles
-
- 抄録ライセンスフラグ
- 使用不可