title: ÐÐ¸Ð·ÑÐ°Ð»ÑÐ½Ð°Ñ Ð¾Ð´Ð¾Ð¼ÐµÑÑÐ¸Ñ Ð² ÑÑÐ»Ð¾Ð²Ð¸ÑÑ Ð¸Ð½ÑÐµÑÐ²Ð°Ð»ÑÐ½Ð¾Ð¹ Ð½ÐµÐ¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð½Ð¾ÑÑÐ¸
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: Visual odometry under interval uncertainty
Creators: name: ÐÐ¾Ð²Ð°Ð»ÐµÐ½ÐºÐ¾, ÐÐ°Ð´ÐµÐ¶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: 2021
Subjects: ÐÐ½ÑÐµÑÐ²Ð°Ð»ÑÐ½ÑÐ¹ Ð°Ð½Ð°Ð»Ð¸Ð· (Ð¼Ð°Ñ.)
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ÐÐ½Ð°Ð»Ð¸Ð·Ð°ÑÐ¾ÑÑ Ð¸Ð·Ð¾Ð±ÑÐ°Ð¶ÐµÐ½Ð¸Ð¹
Ð²Ð¸Ð·ÑÐ°Ð»ÑÐ½Ð°Ñ Ð¾Ð´Ð¾Ð¼ÐµÑÑÐ¸Ñ
Ð»Ð¾ÐºÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ñ
visual odometry
localization

description: ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð¿ÑÐ¸Ð¼ÐµÐ½Ð¸Ð¼Ð¾ÑÑÐ¸ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² ÑÐµÑÐµÐ½Ð¸Ñ ÐÐ¡ÐÐÐ£ Ð´Ð»Ñ Ð·Ð°Ð´Ð°ÑÐ¸ Ð²Ð¸Ð·ÑÐ°Ð»ÑÐ½Ð¾Ð¹ Ð¾Ð´Ð¾Ð¼ÐµÑÑÐ¸Ð¸ Ð¿ÑÐ¸ Ð¿ÐµÑÐµÐ¼ÐµÑÐµÐ½Ð¸Ð¸ ÑÐ¾Ð±Ð¾ÑÐ¾Ð²-ÑÐ¿Ð°ÑÐ°ÑÐµÐ»ÐµÐ¹. 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Ð¾Ð¸ÑÐº Ð¸ Ð²ÑÐ¿Ð¾Ð»Ð½ÐµÐ½Ð¸Ðµ Ð¼ÐµÑÐ¾Ð´Ð° ÑÐµÑÐµÐ½Ð¸Ñ Ð·Ð°Ð´Ð°ÑÐ¸ Ð²Ð¸Ð·ÑÐ°Ð»ÑÐ½Ð¾Ð¹ Ð¾Ð´Ð¾Ð¼ÐµÑÑÐ¸Ð¸; 2. ÐÐ¾Ð¸ÑÐº Ð´Ð°ÑÐ°ÑÐµÑÐ¾Ð² Ñ ÐºÐ°Ð¼ÐµÑ, ÐºÐ¾ÑÐ¾ÑÑÐµ Ð½Ð°ÑÐ¾Ð´Ð¸Ð»Ð¸ÑÑ Ð½Ð° Ð¿ÐµÑÐµÐ´Ð²Ð¸Ð³Ð°ÑÑÐ¸ÑÑÑ Ð¾Ð±ÑÐµÐºÑÐ°Ñ; 3. ÐÐ·ÑÑÐµÐ½Ð¸Ðµ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² ÑÐµÑÐµÐ½Ð¸Ñ ÐÐ¡ÐÐÐ£. Ð ÑÐ¾Ð´Ðµ ÑÐ°Ð±Ð¾ÑÑ Ð² ÐºÐ°ÑÐµÑÑÐ²Ðµ Ð²ÑÐ¾Ð´Ð½ÑÑ Ð´Ð°Ð½Ð½ÑÑ Ð±ÑÐ» Ð²ÑÐ±ÑÐ°Ð½ Ð´Ð°ÑÐ°ÑÐµÑ KITTI, ÑÐ¾ÑÑÐ¾ÑÑÐ¸Ð¹ Ð¸Ð· Ð¿Ð¾ÐºÐ°Ð´ÑÐ¾Ð²ÑÑ Ð¸Ð·Ð¾Ð±ÑÐ°Ð¶ÐµÐ½Ð¸Ð¹ Ð²Ð¸Ð´ÐµÐ¾ ÑÑÐ´Ð¾Ð², ÑÐ½ÑÑÑÑ Ñ Ð¿ÐµÑÐµÐ´Ð²Ð¸Ð¶Ð½ÑÑ Ð¾Ð±ÑÐµÐºÑÐ¾Ð². ÐÐ»Ñ ÑÐµÑÐµÐ½Ð¸Ñ Ð·Ð°Ð´Ð°ÑÐ¸ Ð²Ð¸Ð·ÑÐ°Ð»ÑÐ½Ð¾Ð¹ Ð¾Ð´Ð¾Ð¼ÐµÑÑÐ¸Ð¸ Ð±ÑÐ» Ð²ÑÐ±ÑÐ°Ð½ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼ ORB-SLAM2, ÐºÐ¾ÑÐ¾ÑÑÐ¹ Ð½Ð° Ð²ÑÐ¾Ð´ Ð¿ÑÐ¸Ð½Ð¸Ð¼Ð°ÐµÑ Ð½Ð°Ð±Ð¾Ñ Ð¸Ð·Ð¾Ð±ÑÐ°Ð¶ÐµÐ½Ð¸Ð¹, Ð° Ð²Ð¾Ð·Ð²ÑÐ°ÑÐ°ÐµÑ Ð² ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐµ ÐºÐ¾Ð¾ÑÐ´Ð¸Ð½Ð°ÑÑ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð½Ð¾Ð¹ ÐºÐ°ÑÑÑ Ð¿ÐµÑÐµÐ´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ Ð¾Ð±ÑÐµÐºÑÐ°. ÐÐ°Ð»ÐµÐµ Ð¿Ð¾Ð»ÑÑÐµÐ½Ð½ÑÐµ Ð´Ð°Ð½Ð½ÑÐµ Ð±ÑÐ»Ð¸ Ð¿ÑÐµÐ¾Ð±ÑÐ°Ð·Ð¾Ð²Ð°Ð½Ñ Ð¸ Ð¿ÑÐ¾Ð°Ð½Ð°Ð»Ð¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ñ Ð´Ð»Ñ Ð´Ð°Ð»ÑÐ½ÐµÐ¹ÑÐµÐ³Ð¾ ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ð¸Ñ Ð¸ ÑÐµÑÐµÐ½Ð¸Ñ ÐÐ¡ÐÐÐ£, ÑÑÐ¾Ð±Ñ Ð¿Ð¾ÑÑÑÐ¾Ð¸ÑÑ ÑÑÐ°Ð²Ð½ÐµÐ½Ð¸Ñ Ð²ÑÐ¾ÑÐ¾Ð³Ð¾ Ð¿Ð¾ÑÑÐ´ÐºÐ° Ð¿ÑÐ¸ Ð¿Ð¾Ð²Ð¾ÑÐ¾ÑÐµ Ð´Ð²Ð¸Ð³Ð°ÑÑÐµÐ³Ð¾ÑÑ Ð¾Ð±ÑÐµÐºÑÐ°. ÐÑÐ» ÑÐµÐ°Ð»Ð¸Ð·Ð¾Ð²Ð°Ð½ Ð¼ÐµÑÐ¾Ð´ ÑÐµÐ½ÑÑÐ° Ð½ÐµÐ¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð½Ð¾ÑÑÐ¸. ÐÐ°Ð½Ð½ÑÐ¹ Ð¼ÐµÑÐ¾Ð´ Ð¿ÑÐ¸Ð¼ÐµÐ½Ð¸Ð¼ Ð´Ð»Ñ Ð¿Ð¾ÑÑÐ°Ð²Ð»ÐµÐ½Ð½Ð¾Ð¹ Ð·Ð°Ð´Ð°ÑÐ¸.
description: This work is devoted to the study of the applicability of methods for solving ISLAU for the problem of visual odometry when moving rescue robots. The research set the following goals: 1. Search and execution of method for solving the problem of visual odometry; 2. Search for datasets from cameras that were on moving objects; 3. Search of methods for solving ISLAU. In the course of the work, the KITTI dataset was chosen as input data, which consists of time-lapse images of video sequences taken from mobile objects. To solve the visual odometry problem, the ORB-SLAM2 algorithm was chosen, which takes a set of images as input, and returns the coordinates of the constructed object movement map as a result. Further, the obtained data were transformed and analyzed for further consideration and solution by ISLAU in order to construct second-order equations for the rotation of a moving object. The center of uncertainty method was implemented. This method is applicable for the task at hand.