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DCEGen: Dense Clutter Environment Generation Tool for Autonomous 3D Exploration and Coverage Algorithms Testing

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Interactive Collaborative Robotics (ICR 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11659))

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Abstract

Autonomous exploration and coverage in 3D environments recently has became a rapidly developing research field. Emerging 3D reconstruction methods, designed specifically for exploration and coverage, allows capturing an environment in a greater details. However, not much work addresses certain difficulties inherent to dense clutter environments. We observed those difficulties and made an attempt that seeks to expand the applicability of such methods to more demanding scenarios. Automating the process of testing and evaluation by designing a dense clutter environment generation algorithm (DCEGen) allows us to measure comparative performance of available algorithms. We focus on path-planning algorithms used in an unmanned ground vehicles. The algorithm was implemented and verified using Gazebo simulator.

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Notes

  1. 1.

    https://gitlab.com/LIRS_Projects/Simulation-3d-reconstruction/tree/master/autonomous_exploration_and_coverage. Note for reviewers: The access will be opened after the conference if the paper is accepted.

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Acknowledgments

This work was supported by the Russian Foundation for Basic Research (RFBR), project ID 19-58-70002.

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Authors and Affiliations

  1. Higher Institute for Information Technology and Intelligent Systems (ITIS), Kazan Federal University, 35 Kremlyovskaya street, Kazan, Russian Federation

    Evgeni Denisov, Artur Sagitov, Roman Lavrenov & Evgeni Magid

  2. Department of Electrical Engineering, National Yunlin University of Science and Technology, Tainan, Taiwan

    Kuo-Lan Su

  3. Robot Dynamics and Control Laboratory, College of Information Science and Engineering, Ritsumeikan University, Noji Higashi 1-1-1, Kusatsu, 525-8577, Japan

    Mikhail Svinin

Authors
  1. Evgeni Denisov
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  2. Artur Sagitov
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  3. Roman Lavrenov
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  4. Kuo-Lan Su
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  5. Mikhail Svinin
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  6. Evgeni Magid
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Corresponding author

Correspondence to Roman Lavrenov .

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Editors and Affiliations

  1. Russian Academy of Sciences, St. Petersburg, Russia

    Andrey Ronzhin

  2. Technical University of Munich, Munich, Germany

    Gerhard Rigoll

  3. Russian Academy of Sciences, Moscow, Russia

    Roman Meshcheryakov

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Denisov, E., Sagitov, A., Lavrenov, R., Su, KL., Svinin, M., Magid, E. (2019). DCEGen: Dense Clutter Environment Generation Tool for Autonomous 3D Exploration and Coverage Algorithms Testing. In: Ronzhin, A., Rigoll, G., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2019. Lecture Notes in Computer Science(), vol 11659. Springer, Cham. https://doi.org/10.1007/978-3-030-26118-4_21

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  • DOI: https://doi.org/10.1007/978-3-030-26118-4_21

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-26117-7

  • Online ISBN: 978-3-030-26118-4

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