Evaluation of Visual SLAM Methods in USAR Applications Using ROS/Gazebo Simulation

Safin, Ramil; Lavrenov, Roman; Martínez‐García, Edgar A.

doi:10.1007/978-981-15-5580-0_30

Cited by 12 publications

(5 citation statements)

References 17 publications

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“…ROS is a system used to create robotic applications where the main goal is to provide a powerful robotic application that can be used in other robots. This system has a set of software tools, packages and libraries that make software development for robots easier [12]. With Gazebo we can simulate not only the robot but also simulate a room, sensors and various 3D objects [13].…”

Section: System Setupmentioning

confidence: 99%

Using optical sensors for industrial robot-human interactions in a Gazebo environment.

Kidiraliev,

Lavrenov

2023

Proceedings of International Conference on Artificial Life and Robotics

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This paper presents an overview of a robot operating system based architecture for human-industrial robot interactions using peripheral optical sensors for real-time object detection and collision avoidance with an industrial robot in the virtual world of the Gazebo simulator. Machine vision plays a huge role in production automation, and develop a system based on Kuka KR3 industrial robot for detecting and tracking a human and other objects in a working area using optical sensors. The ability to work in low light and crowded conditions, as well as the ability to reconstruct a method of execution of a task, while maintaining control of a robot. This work considers several optical sensors and a comparative analysis.

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Section: System Setupmentioning

confidence: 99%

Using optical sensors for industrial robot-human interactions in a Gazebo environment.

Kidiraliev,

Lavrenov

2023

Proceedings of International Conference on Artificial Life and Robotics

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“…This section demonstrates examples of employing simulators in order to compare and validate algorithms, methods and protocols. In [41] our team employed the Gazebo simulator for evaluation of visual SLAM methods in USAR applications. Validations of partially [42] or entirely [43] unknown environment exploration algorithms for a mobile robot were successfully performed in the Gazebo.…”

Section: Activities Modelling In a Virtual World Of The Gazebomentioning

confidence: 99%

Simulation Tools for Urban Search and Rescue Robotics

Magid

2023

Proceedings of International Conference on Artificial Life and Robotics

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Real world experiments are critical for validating performance of new concepts and algorithms in robotics field. Yet, experiments tend to be too expensive in terms of time and resources of a research team. Moreover, it is not feasible to conduct thousands of complex experiments with a physical robot in a real environment. To check new ideas, preliminary evaluate new algorithms and interaction protocols, on first stages of a research project it is reasonable to start within a simulation. To produce relevant results, a simulator should provide adequate models of robots and environments with realistic physical properties. This paper presents an overview of our experience in using robot operating system (ROS) with Gazebo and Webots simulators for urban search and rescue robotics projects and considers constructing new models of mobile robots and complicated environments, algorithm validation and comparative analysis.

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“…Городская среда после катастрофы представляет собой сложные условия работы для автономных роботов из-за непредсказуемости реальной миссии и возможных сценариев [2]. Поэтому за последнее десятилетие подавляющее большинство поисково-спасательных роботов использовалось в реальных полевых условиях в режиме телеуправления, то есть удаленного режима управления.…”

Section: Fiducial Markers Evaluation Using Onboard Camera Of Servosil...unclassified

Fiducial Markers Evaluation Using Onboard Camera Of Servosila Engineer Mobile Robot in Indoor Settings

Tsoy¹

2022

IZVESTIYA SFedU. ENGINEERING SCIENCES

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Evaluation of Visual SLAM Methods in USAR Applications Using ROS/Gazebo Simulation

Cited by 12 publications

References 17 publications

Using optical sensors for industrial robot-human interactions in a Gazebo environment.

Using optical sensors for industrial robot-human interactions in a Gazebo environment.

Simulation Tools for Urban Search and Rescue Robotics

Fiducial Markers Evaluation Using Onboard Camera Of Servosila Engineer Mobile Robot in Indoor Settings

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