Gazebo Simulation for 3D mapping using 2D Lidar

Gazebo Simulation for 3D mapping using 2D Lidar refers to a virtual environment created in the Gazebo simulation platform to simulate the process of mapping a 3D representation of the environment using a 2D Lidar sensor. In this simulation, a 2D Lidar sensor, which typically provides range and angle information in a 2D plane, is mounted on a robotic platform within the Gazebo simulation environment. The robot moves around the simulated world, and the Lidar sensor measures distances to objects in its surroundings. Using the data from the 2D Lidar, the simulation software performs computations to create a 3D map of the environment. This process involves combining multiple 2D Lidar scans from different angles as the robot moves to generate a comprehensive 3D representation of the world. The Gazebo simulation platform allows researchers, developers, and roboticists to test and fine-tune algorithms for 3D mapping and localization without the need for physical hardware. It serves as a valuable tool to assess the performance and accuracy of mapping techniques using 2D Lidar sensors before implementing them on real robots. Paper: https://ieeexplore.ieee.org/document/10056143

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