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Information × Registration Number 0211U000389, 0109U004835 , R & D reports Title Development of 3D localization methods for navigation of mobile robots popup.stage_title Head Sachenko Anatoliy Oleksiyovych, Registration Date 02-02-2011 Organization Ternopol National Economic University popup.description2 The object of investigations: The structure of control system of autonomous mobile robot, methods of 3D localization of mobile robot (MR). The subject of research: The components of control system of autonomous MR, mathematical model of digital pinhole-camera and stereocamera. The goal of investigations: The development of methods of 3D localization of MR. Methods of investigations: Theory of systems and system analysis, simulation, linear algebra, projective and analytical geometry, digital image processing. Results and their novelty: The development and investigations of method of interest point detection on images of videoflow, method of 3D localization of MR, algorithm for computation of 3D position of camera on the basis of corresponding interest points coordinates of videoflow. The model of autonomous MR control system was improved. The configuration for interconnections of main modules of MR and the main requirements for protocol of interaction between functional blocks of MR were formed. Data Flow Diagram was build for main components of MR. Product Description popup.authors Адамів Олег Петрович Капура Віктор Анатолійович Коваль Василь Сергійович popup.nrat_date 2020-04-02 Close