title: Ð¡Ð¸ÑÑÐµÐ¼Ð° Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð¹ ÐºÐ°Ð»Ð¸Ð±ÑÐ¾Ð²ÐºÐ¸ Ð±Ð»Ð¾ÐºÐ° ÑÐµÐ½ÑÐ¾ÑÐ¾Ð² ÑÐµÑ Ð½Ð¸ÑÐµÑÐºÐ¾Ð³Ð¾ Ð·ÑÐµÐ½Ð¸Ñ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½Ð¾Ð³Ð¾ Ð»Ð¾ÐºÐ¾Ð¼Ð¾ÑÐ¸Ð²Ð°
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Automatic calibration system for the sensor block of an unmanned locomotives computer vision system
Creators: name: Ð¤ÑÑÑÑÑÐº, ÐÐ¸ÑÐ¸Ð»Ð»
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2025
Subjects: ÐºÐ°Ð»Ð¸Ð±ÑÐ¾Ð²ÐºÐ°
Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½ÑÐ¹ ÑÐ»ÐµÐºÑÑÐ¾Ð¿Ð¾ÐµÐ·Ð´
ÐºÐ¾Ð¼Ð¿ÑÑÑÐµÑÐ½Ð¾Ðµ Ð·ÑÐµÐ½Ð¸Ðµ
ÐºÐ°Ð¼ÐµÑÐ°
ÑÐµÐ¿Ð»Ð¾Ð²Ð¸Ð·Ð¾Ñ
Ð»Ð¸Ð´Ð°Ñ
calibration
autonomous electric train
computer vision
camera
thermal camera
lidar

description: ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² Ð´Ð»Ñ ÐºÐ°Ð»Ð¸Ð±ÑÐ¾Ð²ÐºÐ¸ ÑÐµÐ½ÑÐ¾ÑÐ¾Ð² Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½Ð¾Ð³Ð¾ ÑÐ»ÐµÐºÑÑÐ¾Ð¿Ð¾ÐµÐ·Ð´Ð°. Ð¦ÐµÐ»ÑÑ Ð´Ð°Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ ÑÐ²Ð»ÑÐµÑÑÑ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² ÐºÐ°Ð»Ð¸Ð±ÑÐ¾Ð²ÐºÐ¸ ÐºÐ°Ð¼ÐµÑ, ÑÐµÐ¿Ð»Ð¾Ð²Ð¸Ð·Ð¾ÑÐ¾Ð² Ð¸ Ð»Ð¸Ð´Ð°ÑÐ¾Ð². ÐÐ°Ð´Ð°ÑÐ¸, ÐºÐ¾ÑÐ¾ÑÑÐµ ÑÐµÑÐ°Ð»Ð¸ÑÑ Ð² ÑÐ¾Ð´Ðµ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ: 1) ÐÐ½Ð°Ð»Ð¸Ð· ÑÐ°Ð±Ð¾Ñ ÑÑÐ¾Ð¶ÐµÐ¹ ÑÐµÐ¼Ð°ÑÐ¸ÐºÐ¸. 2) ÐÐ¿Ð¸ÑÐ°Ð½Ð¸Ðµ Ð¿ÑÐ¾ÐµÐºÑÐ¸ÑÑÐµÐ¼Ð¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ñ Ð¸ Ð¿ÑÐ¸Ð½ÑÐ¸Ð¿Ð¾Ð² ÐµÐµ ÑÐ°Ð±Ð¾ÑÑ. 3) ÐÑÐµÐ½ÐºÐ° Ð²Ð»Ð¸ÑÐ½Ð¸Ñ ÑÐ¾ÑÐ½Ð¾ÑÑÐ¸ ÐºÐ°Ð»Ð¸Ð±ÑÐ¾Ð²ÐºÐ¸ Ð½Ð° ÑÐ¸ÑÑÐµÐ¼Ñ-Ð¿Ð¾ÑÑÐµÐ±Ð¸ÑÐµÐ»Ð¸ ÐºÐ°Ð»Ð¸Ð±ÑÐ¾Ð²Ð¾ÑÐ½ÑÑ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÐ¾Ð². 4) ÐÐ½Ð°Ð»Ð¸Ð· ÑÐ°Ð±Ð¾ÑÑ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð². Ð Ð°Ð±Ð¾ÑÐ° Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð° Ð½Ð° Ð±Ð°Ð·Ðµ ÐÐ Â«ÐÐÐÐÐ¡Â», Ð³Ð´Ðµ ÑÐ¾Ð±Ð¸ÑÐ°Ð»Ð°ÑÑ Ð·Ð½Ð°ÑÐ¸ÑÐµÐ»ÑÐ½Ð°Ñ ÑÐ°ÑÑÑ ÑÐ°ÐºÑÐ¸ÑÐµÑÐºÐ¾Ð³Ð¾ Ð¼Ð°ÑÐµÑÐ¸Ð°Ð»Ð°: Ð´Ð°Ð½Ð½ÑÐµ Ñ ÑÐµÐ½ÑÐ¾ÑÐ¾Ð², ÑÑÑÐ°Ð½Ð¾Ð²Ð»ÐµÐ½Ð½ÑÑ Ð½Ð° ÑÐ»ÐµÐºÑÑÐ¾Ð¿Ð¾ÐµÐ·Ð´Ðµ, ÑÑÐµÐ¼Ð° ÑÐ°Ð·Ð¼ÐµÑÐµÐ½Ð¸Ñ Ð¼Ð°ÑÐºÐµÑÐ¾Ð², ÑÑÐ°ÑÐ¸ÑÑÐ¸ÐºÐ° ÑÐ°Ð±Ð¾ÑÑ ÑÐ¸ÑÑÐµÐ¼Ñ. ÐÑÐ»Ð¸ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ñ ÑÐ°ÑÑÐµÑÑ, Ð¿Ð¾ÐºÐ°Ð·ÑÐ²Ð°ÑÑÐ¸Ðµ Ð½Ð°Ð³Ð»ÑÐ´Ð½Ð¾, ÐºÐ°ÐºÐ¸Ð¼ Ð¾Ð±ÑÐ°Ð·Ð¾Ð¼ ÐºÐ°ÑÐµÑÑÐ²Ð¾ ÐºÐ°Ð»Ð¸Ð±ÑÐ¾Ð²ÐºÐ¸ Ð²Ð»Ð¸ÑÐµÑ Ð½Ð° ÐºÐ¾Ð½ÐµÑÐ½Ð¾Ðµ Ð¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð¸Ðµ ÑÐ°ÑÑÑÐ¾ÑÐ½Ð¸Ð¹ ÑÐ¸ÑÑÐµÐ¼Ð¾Ð¹ ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¾Ð³Ð¾ Ð·ÑÐµÐ½Ð¸Ñ Ð±Ð»Ð¾ÐºÐ° Ð¾Ð±Ð½Ð°ÑÑÐ¶ÐµÐ½Ð¸Ñ Ð¿ÑÐµÐ¿ÑÑÑÑÐ²Ð¸Ð¹. ÐÑÐ¾Ð°Ð½Ð°Ð»Ð¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð° Ð¸ ÑÑÑÑÐºÑÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð° ÑÐµÐ¾ÑÐ¸Ñ, ÑÐ²ÑÐ·Ð°Ð½Ð½Ð°Ñ Ñ ÐºÐ°Ð»Ð¸Ð±ÑÐ¾Ð²ÐºÐ¾Ð¹ ÑÐµÐ½ÑÐ¾ÑÐ¾Ð² Ð¸ Ð¿ÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¸Ðµ ÐµÐµ Ð² ÑÐµÐ°Ð»ÑÐ½Ð¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ðµ. ÐÑÐ»Ð¸ ÑÑÐ¾ÑÐ¼Ð¸ÑÐ¾Ð²Ð°Ð½Ñ Ð±Ð»Ð¾Ðº ÑÑÐµÐ¼Ñ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² Ð´Ð»Ñ ÐºÐ°Ð»Ð¸Ð±ÑÐ¾Ð²ÐºÐ¸ ÐºÐ°Ð¼ÐµÑ Ð¸ ÑÐµÐ¿Ð»Ð¾Ð²Ð¸Ð·Ð¾ÑÐ¾Ð² Ð¸ Ð¾ÑÐ´ÐµÐ»ÑÐ½Ð¾ Ð»Ð¸Ð´Ð°ÑÐ¾Ð². ÐÑÐ¸Ð²ÐµÐ´ÐµÐ½ Ð°Ð½Ð°Ð»Ð¸Ð· ÑÐ°Ð±Ð¾ÑÑ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² Ð¸ Ð²ÑÑÐ²Ð»ÐµÐ½Ñ ÑÐ·ÐºÐ¸Ðµ Ð¼ÐµÑÑÐ° Ð² ÑÐ°Ð±Ð¾ÑÐµ ÑÐ¸ÑÑÐµÐ¼Ñ. ÐÑÐ¾Ð°Ð½Ð°Ð»Ð¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½ Ð¿Ð¾Ð´ÑÐ¾Ð´ Ðº ÑÐµÑÐµÐ½Ð¸Ñ Ð·Ð°Ð´Ð°ÑÐ¸ Ð¸ Ð¿ÑÐ¸Ð½ÑÐ¸Ð¿Ð°Ð¼ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ñ ÑÐ¸ÑÑÐµÐ¼Ñ Ð² ÑÐµÐ»Ð¾Ð¼. ÐÐ° Ð¾ÑÐ½Ð¾Ð²Ð°Ð½Ð¸Ð¸ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð½ÑÑ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ð¹ Ð½Ð° ÐÐ Â«ÐÐÐÐÐ¡Â», Ð±ÑÐ»Ð¾ Ð¿ÑÐ¸Ð½ÑÑÐ¾ ÑÐµÑÐµÐ½Ð¸Ðµ Ð¾ Ð½ÐµÐ¾Ð±ÑÐ¾Ð´Ð¸Ð¼Ð¾ÑÑÐ¸ Ð´Ð¾ÑÐ°Ð±Ð¾ÑÐºÐ¸ ÑÐ¸ÑÑÐµÐ¼Ñ Ð´Ð»Ñ ÑÐ²ÐµÐ»Ð¸ÑÐµÐ½Ð¸Ñ ÑÑÐ°Ð±Ð¸Ð»ÑÐ½Ð¾ÑÑÐ¸ ÑÐ°Ð±Ð¾ÑÑ Ð¸ Ð¿Ð¾ÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ð¸ ÑÐ¸ÑÑÐµÐ¼Ñ Ð½Ð° Ð´ÑÑÐ³Ð¸Ðµ Ð¾Ð±ÑÐµÐºÑÑ ÑÐºÑÐ¿Ð»ÑÐ°ÑÐ°ÑÐ¸Ð¸ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½ÑÑ ÑÐ¸ÑÑÐµÐ¼. Ð¢Ð°ÐºÐ¶Ðµ Ð±ÑÐ»Ð¸ Ð¿ÑÐµÐ´Ð»Ð¾Ð¶ÐµÐ½Ñ Ð²Ð¾Ð·Ð¼Ð¾Ð¶Ð½ÑÐµ Ð¸Ð·Ð¼ÐµÐ½ÐµÐ½Ð¸Ñ ÐºÐ¾Ð½ÑÐµÐ¿ÑÐ¸Ð¸ Ð´Ð»Ñ Ð¾Ð±ÐµÑÐ¿ÐµÑÐµÐ½Ð¸Ñ ÑÑÐ°Ð±Ð¸Ð»ÑÐ½Ð¾ÑÑÐ¸ ÑÐ°Ð±Ð¾ÑÑ ÑÐ¸ÑÑÐµÐ¼Ñ.
description: This work is dedicated to the research of algorithms for calibrating sensors in an autonomous electric train. The primary focus is on the development and analysis of calibration methods for sensors such as cameras, thermal cameras, and LiDARs, which are key components of the vision system. Main goal of the work is development of algorithms for camera, thermal camera, and lidar calibration. The research set the following goals: 1. Analysis of related works. A review of existing approaches to sensor calibration in autonomous transportation systems, including railway transport, was conducted. 2. Description of the studied system. The architecture of the vision system for the unmanned locomotive was examined in detail, including sensor placement and their interaction. 3. Description of calibration algorithms for thermal imagers, cameras, and LiDARs. Algorithms for calibrating each type of sensor were developed and described, taking into account their specific characteristics. 4. Analysis of algorithm performance. The effectiveness of the proposed algorithms was evaluated, identifying their strengths and weaknesses. The research was conducted at JSC "NIIAS," where a significant portion of the factual material was collected: data from sensors installed on the electric train, marker placement diagrams, and system performance statistics. Calculations were performed to visually demonstrate how calibration quality affects the final distance determination by the obstacle detection systems vision block. The theory related to sensor calibration and its application in a real-world system was analyzed and structured. Flowcharts of algorithms for calibrating cameras, thermal imagers, and LiDARs were developed. An analysis of the algorithms performance was conducted, and bottlenecks in the systems operation were identified. The approach to solving the problem and the principles of system design were analyzed. Based on the research conducted at JSC "NIIAS," it was decided to refine the system to improve its stability and adapt it for use in other autonomous systems. Additionally, potential changes to the systems concept were proposed to ensure its stable operation.