title: Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐµÑ Ð½Ð¸ÑÐµÑÐºÐ¾Ð³Ð¾ Ð·ÑÐµÐ½Ð¸Ñ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½Ð¾Ð³Ð¾ ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑÐ½Ð¾Ð³Ð¾ ÑÑÐµÐ´ÑÑÐ²Ð° Ð´Ð»Ñ ÑÐµÑÐµÐ½Ð¸Ñ Ð·Ð°Ð´Ð°ÑÐ¸ Ð°Ð½Ð°Ð»Ð¸Ð·Ð° Ð´Ð¾ÑÐ¾Ð¶Ð½Ð¾Ð¹ Ð¾Ð±ÑÑÐ°Ð½Ð¾Ð²ÐºÐ¸
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: Development of a Computer Vision System for an Autonomous Vehicle to Solve the Problem of Road Situation Analysis
Creators: name: ÐÑÑÐ°Ð»Ð¾Ð², ÐÐ³Ð¾Ñ
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: 2024
Subjects: ÑÐµÑ Ð½Ð¸ÑÐµÑÐºÐ¾Ðµ Ð·ÑÐµÐ½Ð¸Ðµ
Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½ÑÐ¹ ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑ
ROS2
Carla
YOLOX
ByteTrack
computer vision
autonomous vehicle

description: Ð¦ÐµÐ»Ñ ÑÐ°Ð±Ð¾ÑÑ â ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¾Ð³Ð¾ Ð·ÑÐµÐ½Ð¸Ñ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½Ð¾Ð³Ð¾ ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑÐ½Ð¾Ð³Ð¾ ÑÑÐµÐ´ÑÑÐ²Ð°. ÐÐ°Ð´Ð°ÑÐµÐ¹ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ²Ð»ÑÐµÑÑÑ ÑÐ°ÑÐ¿Ð¾Ð·Ð½Ð°Ð²Ð°Ð½Ð¸Ðµ ÑÑÐ°ÑÑÐ½Ð¸ÐºÐ¾Ð² Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ Ð¸ Ð´ÑÑÐ³Ð¸Ñ Ð¾Ð±ÑÐµÐºÑÐ¾Ð², Ð¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð¸Ðµ Ð¸Ñ Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ñ Ð² Ð¿ÑÐ¾ÑÑÑÐ°Ð½ÑÑÐ²Ðµ, Ð¾ÑÑÐ»ÐµÐ¶Ð¸Ð²Ð°Ð½Ð¸Ðµ Ð¿ÑÐ¸ Ð´Ð°Ð»ÑÐ½ÐµÐ¹ÑÐµÐ¼ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ð¸, Ð° ÑÐ°ÐºÐ¶Ðµ Ð¿ÑÐ¾Ð³Ð½Ð¾Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ð¸Ñ Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ñ Ð¸ ÑÐºÐ¾ÑÐ¾ÑÑÐ¸. Ð ÑÐ°Ð¼ÐºÐ°Ñ ÑÐ°Ð±Ð¾ÑÑ Ð±ÑÐ»Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð° ÑÐ¸ÑÑÐµÐ¼Ð°, ÑÐ¾Ð¾ÑÐ²ÐµÑÑÑÐ²ÑÑÑÐ°Ñ Ð¿Ð¾ÑÑÐ°Ð²Ð»ÐµÐ½Ð½Ð¾Ð¹ Ð·Ð°Ð´Ð°ÑÐµ, Ð½Ð° Ð±Ð°Ð·Ðµ ROS2, Ð¿ÑÐ¸ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸Ð¸ YOLOX Ð¸ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° ByteTrack. Ð ÐµÐ°Ð»Ð¸Ð·Ð¾Ð²Ð°Ð½Ð½Ð°Ñ ÑÐ¸ÑÑÐµÐ¼Ð° Ð¸ÑÐ¿Ð¾Ð»ÑÐ·ÑÐµÑ RGB ÐºÐ°Ð¼ÐµÑÑ Ð¸ ÑÐ¿Ð¾ÑÐ¾Ð±Ð½Ð° Ð¾Ð±Ð½Ð°ÑÑÐ¶Ð¸Ð²Ð°ÑÑ Ð¾Ð±ÑÐµÐºÑÑ Ð½Ð° Ð¸Ð·Ð¾Ð±ÑÐ°Ð¶ÐµÐ½Ð¸Ð¸, Ð¿ÑÐµÐ´ÑÐºÐ°Ð·ÑÐ²Ð°ÑÑ Ð¸Ñ Ð¼ÐµÑÑÐ¾Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ðµ Ð½Ð° ÑÐºÑÐ°Ð½Ðµ Ð¸ ÐºÐ»Ð°ÑÑ, Ð¾ÑÐµÐ½Ð¸Ð²Ð°ÑÑ Ð¸Ñ Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ðµ Ð² Ð¿ÑÐ¾ÑÑÑÐ°Ð½ÑÑÐ²Ðµ, Ð¾ÑÑÐ»ÐµÐ¶Ð¸Ð²Ð°ÑÑ, Ð½Ð°Ð·Ð½Ð°ÑÐ°Ñ ÑÐ½Ð¸ÐºÐ°Ð»ÑÐ½ÑÑ Ð¼ÐµÑÐºÑ, Ð¿ÑÐ¾Ð³Ð½Ð¾Ð·Ð¸ÑÐ¾Ð²Ð°ÑÑ Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ðµ Ð¾Ð±ÑÐµÐºÑÐ¾Ð² Ð² Ð¿ÑÐ¾ÑÑÑÐ°Ð½ÑÑÐ²Ðµ, ÑÐ¾ÑÑÐ°Ð½ÑÑÑ ÑÑÑÐ¾Ð¹ÑÐ¸Ð²Ð¾ÑÑÑ Ð¿ÑÐ¸ ÐºÑÐ°ÑÐºÐ¾Ð²ÑÐµÐ¼ÐµÐ½Ð½ÑÑ ÑÐ±Ð¾ÑÑ, Ð° ÑÐ°ÐºÐ¶Ðµ Ð³ÑÐ°ÑÐ¸ÑÐµÑÐºÐ¸ Ð¾ÑÐ¾Ð±ÑÐ°Ð¶Ð°ÑÑ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÑ ÑÐ°Ð±Ð¾ÑÑ ÑÐ»ÐµÐ¼ÐµÐ½ÑÐ¾Ð² ÑÐ¸ÑÑÐµÐ¼Ñ. ÐÑÐ¾Ð¼Ðµ ÑÑÐ¾Ð³Ð¾, ÑÐ¸ÑÑÐµÐ¼Ð° ÑÐ¿Ð¾ÑÐ¾Ð±Ð½Ð° ÑÐ°Ð±Ð¾ÑÐ°ÑÑ Ñ Ð´Ð°Ð½Ð½ÑÐ¼Ð¸ ÑÐ¸Ð¼ÑÐ»ÑÑÐ¾ÑÐ° Carla, ÐºÐ¾ÑÐ¾ÑÑÐ¹ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð»ÑÑ Ð´Ð»Ñ ÑÐµÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ.
description: The purpose of the graduate qualification work is the development of a computer vision system for an autonomous vehicle. The systems task is to recognize traffic participants and other objects, determine their position in space, track them during further movement, and predict their position and speed. In the course of this work, a system meeting the specified task was developed based on ROS2, using YOLOX and the ByteTrack algorithm. The implemented system uses an RGB camera and is capable of detecting objects in the image, predicting their location on the screen and class, estimating their position in space, tracking them by assigning a unique label, predicting the position of objects in space, maintaining stability during short-term failures, and graphically displaying the results of the systems elements. Additionally, the system can work with data from the Carla simulator, which was used for testing.