Stereovision system of mobile robot: image pre-processing stage

Stereovision system of mobile robot: image pre-processing stage

Sergey V. Ulyanov
Doctor of Physical and Mathematical Sciences, Joint Institute for Nuclear Research, Laboratory of Information Technologies (JINR LIT), Professor, 6, ul. Joliot-Curie, Dubna, Moscow region, 141980, Russia, tel.: +7(49621)6-60-10, This email address is being protected from spambots. You need JavaScript enabled to view it.

Andrey G. Reshetnikov
PhD in Technical Sciences, Joint Institute for Nuclear Research, Laboratory of Infor-mation Technologies (JINR LIT), Assistant Professor, 6, ul. Joliot-Curie, Dubna, Moscow region, 141980, Russia, tel.: +7(49621)6-60-10, This email address is being protected from spambots. You need JavaScript enabled to view it.

Kirill V. Koshelev
Joint Institute for Nuclear Research, Laboratory of Information Technologies (JINR LIT), Postgraduate Student, 6, ul. Joliot-Curie, Dubna, Moscow region, 141980, Russia,, tel.: +7(977)710-41-40, This email address is being protected from spambots. You need JavaScript enabled to view it.

Alexei V. Shishaev
Dubna State University, Institute of the System Analysis and Management, Student, 19, Universitetskaya ul., Dubna, Moscow region, 141980, Russia, tel.: +7(49621)6-60-10, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received 5 March 2020

Abstract
Digital image processing merges with the field of artificial intelligence in the task of computer vision. This article continues the description of the pattern recognition system based on stereo vision technology. In a number of tasks related to machine vision, images in binary representation are used as input. Moreover, these tasks can be quite simple (outlining based on the color correlation of pixels), as well as complex (recognition and classification, positioning and autonomous navigation). The best results in pattern recognition are obtained using convolutional neural networks (CNN). However, the stage of preliminary image processing, which will be discussed in this article, plays an important role in achieving high quality recognition. In addition, binary image processing methods are applicable in the processing and analysis of grayscale and color images. This work is an integral part of the description of the stereovision system of a mobile robot, the neural network module of which has already been considered previously. The article presents the results of the pre-processing and filtering unit. Possible generalizations of the proposed approach based on quantum soft computing technology and quantum deep machine learning using quantum neural networks are discussed.

Key words
Pattern recognition, stereovision, robotics, image pre-processing, noise filtering, ROS (Robot Operating System).

DOI
https://doi.org/10.31776/RTCJ.8306

Bibliographic description
Ulyanov, S. et al., 2020. Stereovision system of mobile robot: image pre-processing stage. Robotics and Technical Cybernetics, 8(3), pp.206-216.

UDC identifier:
004.932

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