Integrated computer vision system of autonomous robots

Integrated computer vision system of autonomous robots

Vladimir P. Noskov
PhD in Technical Sciences, Bauman Moscow State Technical University (BMSTU), Scientific Research Institute of Special Machine Building, Head of Section; BMSTU, Special Robotics and Mechatronics Department, Assistant Professor, 5, 2-ya Baumanskaya ul., Moscow, 105005, Russia, tel.: +7(916)676-60-57, This email address is being protected from spambots. You need JavaScript enabled to view it.

Ivan V. Rubtsov
PhD in Technical Sciences, BMSTU, Scientific Research Institute of Special Machine Building, Head of Department; BMSTU, Special Robotics and Mechatronics Department, Assistant Professor, 5, 2-ya Bau-manskaya ul., Moscow, 105005, Russia, tel.: +7(499)263-60-19

Vladimir S. Lapshov
BMSTU, Scientific Research Institute of Special Machine Building, Head of Section, 5, 2-ya Baumanskaya ul., Moscow, 105005, Russia, tel.: +7(926)256-15-37, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received 03 September 2020

Abstract
The article shows the relevance of creating Autonomous robots, especially those focused on use in industrial and urban environments, where the vast majority of special operations are carried out using robotic means (Ministry of Defense, Federal Security Service, EMERCOM, Ministry of internal Affairs, ...) and where the use of traditional re-mote control and navigation systems is limited due to the presence of shielded zones. The results of the development and creation of methods, algorithms and software and hardware means for obtaining and processing video data of onboard integrated vision systems that provide the formation of models of external environments and the solution of navigation problems in the modes of autonomous movement of ground robots and UAV flight in various environments are presented. In particular, we consider: classification of rough terrain according to the criteria of geometric and reference passability, including in the process of movement; construction of geometric and semantic models and video navigation in an industrial and urban environment based on the selection and use of geometric linear primitives; the ability to control attachments based on the data of a complex computer vision system. The results of the work of the corresponding software and hardware means in real conditions are presented.

Key words
Integrated computer vision system, geometric and semantic models of the external environment, video navigation, autonomous movement.

DOI
https://doi.org/10.31776/RTCJ.8308

Bibliographic description
Noskov, V., Rubtsov, I. and Lapshov, V. , 2020. Integrated computer vision system of autonomous robots. Robotics and Technical Cybernetics, 8(3), pp.233-240.

UDC identifier:
004.93:007.52

References

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