Search academic texts

Information × Registration Number 0210U000337, 0108U004785 , R & D reports Title Development of stereovision methods and devices for autonomous navigation of mobile robots popup.stage_title Head Sachenko Anatoliy Oleksiyovych, Registration Date 04-02-2010 Organization Ternopol National Economic University popup.description2 Research object - methods of stereoimage formation, methods of stereoimage fusion and 3D environment map building, methods of autonomous navigation of mobile robots Research subject - mathematical model of pinhole camera, method of pinhole camera calibration, epipolar geometry of stereocamera, method of 3D structure reconstruction on the basis of stereoimages, methods of autonomous navigation of mobile robot Research purpose - the goal of the project is development and implementation of methods of stereoimage formation and fusion, method of autonomous navigation of mobile robot. Research methods - Linear algebra, analytical and projective geometry, numerical methods, digital image and video processing. Results and their novelty: 1. The method of stereoimage formation on the basis of camera calibration by plane of unknown orientation was developed. 2. The method of stereoimage formation, which have enough performance for execution of autonomous navigation task. 3. The algorithm of computation of 3D ponit coordinates. The time that developed algorithm spend for 3D coordinates computation is less about two times than time of coordinates computation by existed algorithm on the basis of least-square method. 4. The regular iterative method of gradient search by local estimation of second order constraints was evolved and it allow to adaptively control the autonomous mobile robot in conditions of uncertainty and dynamical obstacles. 5. The regular iterative method of gradient search with local adaptive estimation of second order constraints was developed, which allowe to form the suboptimal path of robot moving to assigned target in dynamical environment 6. Method of local navigation on the basis cost function of distance to obstacles and targets in autonomous robot environment was proposed Product Description popup.authors Адамів Олег Петрович Капура Віктор Анатолійович Коваль Василь Сергійович popup.nrat_date 2020-04-02 Close