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

  • Evgeni Denisov
  • Artur Sagitov
  • Roman LavrenovEmail author
  • Kuo-Lan Su
  • Mikhail Svinin
  • Evgeni Magid
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11659)


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.


Mobile robot Gazebo simulation ROS Dense clutter environment 3D environment reconstruction Autonomous exploration and coverage algorithm Next-best-view 



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


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Higher Institute for Information Technology and Intelligent Systems (ITIS)Kazan Federal UniversityKazanRussian Federation
  2. 2.Department of Electrical EngineeringNational Yunlin University of Science and TechnologyTainanTaiwan
  3. 3.Robot Dynamics and Control Laboratory, College of Information Science and EngineeringRitsumeikan UniversityKusatsuJapan

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