title: Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° ÑÐ°ÑÐ¿Ð¾Ð·Ð½Ð°Ð²Ð°Ð½Ð¸Ñ Ð´Ð¾ÑÐ¾Ð¶Ð½ÑÑ Ð·Ð½Ð°ÐºÐ¾Ð² Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½ÑÐ¼ ÑÐ¾Ð±Ð¾ÑÐ¾Ð¼
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 road sign recognition algorithm for a mobile robot
Creators: name: Ð¡Ð¼Ð¸ÑÐ½Ð¾Ð²Ð°, ÐÐ°ÑÑÑ
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: ÐºÐ¾Ð¼Ð¿ÑÑÑÐµÑÐ½Ð¾Ðµ Ð·ÑÐµÐ½Ð¸Ðµ
ÑÐ°ÑÐ¿Ð¾Ð·Ð½Ð°Ð²Ð°Ð½Ð¸Ðµ Ð¾Ð±ÑÐµÐºÑÐ¾Ð²
Ð¿Ð¾Ð¸ÑÐº Ð¾Ð±ÑÐµÐºÑÐ¾Ð² Ð½Ð° Ð¸Ð·Ð¾Ð±ÑÐ°Ð¶ÐµÐ½Ð¸Ð¸
Ð¿Ð¾Ð¸ÑÐº Ð¾Ð±ÑÐµÐºÑÐ¾Ð² Ð² Ð²Ð¸Ð´ÐµÐ¾Ð¿Ð¾ÑÐ¾ÐºÐµ
ÑÐ°ÑÐ¿Ð¾Ð·Ð½Ð°Ð²Ð°Ð½Ð¸Ðµ Ð¿Ð¾ Ð¾ÑÐ¾Ð±ÑÐ¼ ÑÐ¾ÑÐºÐ°Ð¼
computer vision
object recognition
object detection
keypoint recognition

description: ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐµ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° ÑÐ°ÑÐ¿Ð¾Ð·Ð½Ð°Ð²Ð°Ð½Ð¸Ñ Ð´Ð¾ÑÐ¾Ð¶Ð½ÑÑ Ð·Ð½Ð°ÐºÐ¾Ð² Ð½Ð° ÐºÐ°Ð´ÑÐ°Ñ Ð²Ð¸Ð´ÐµÐ¾Ð¿Ð¾ÑÐ¾ÐºÐ°, Ð¿Ð¾Ð»ÑÑÐµÐ½Ð½Ð¾Ð³Ð¾ Ñ ÐºÐ°Ð¼ÐµÑÑ ÑÐ¾Ð±Ð¾ÑÐ°. Ð¦ÐµÐ»Ñ ÑÐ°Ð±Ð¾ÑÑ â ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° ÑÐ°ÑÐ¿Ð¾Ð·Ð½Ð°Ð²Ð°Ð½Ð¸Ñ Ð´Ð¾ÑÐ¾Ð¶Ð½ÑÑ Ð·Ð½Ð°ÐºÐ¾Ð² Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½ÑÐ¼ ÑÐ¾Ð±Ð¾ÑÐ¾Ð¼. Ð ÑÐ¾Ð´Ðµ Ð²ÑÐ¿Ð¾Ð»Ð½ÐµÐ½Ð¸Ñ ÑÐ°Ð±Ð¾ÑÑ Ð±ÑÐ»Ð¸ ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ñ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÐµ Ð¼ÐµÑÐ¾Ð´Ñ ÑÐ°ÑÐ¿Ð¾Ð·Ð½Ð°Ð²Ð°Ð½Ð¸Ñ Ð¸Ð·Ð¾Ð±ÑÐ°Ð¶ÐµÐ½Ð¸Ð¹ Ð¸ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¾ Ð¸Ñ ÑÑÐ°Ð²Ð½ÐµÐ½Ð¸Ðµ. ÐÐ»Ñ ÑÐ°ÑÐ¿Ð¾Ð·Ð½Ð°Ð²Ð°Ð½Ð¸Ñ Ð±ÑÐ»Ð¾ Ð²ÑÐ±ÑÐ°Ð½Ð¾ Ð¾Ð³ÑÐ°Ð½Ð¸ÑÐµÐ½Ð½Ð¾Ðµ Ð¼Ð½Ð¾Ð¶ÐµÑÑÐ²Ð¾ Ð´Ð¾ÑÐ¾Ð¶Ð½ÑÑ Ð·Ð½Ð°ÐºÐ¾Ð²: Ð·Ð°Ð¿ÑÐµÑÐ°ÑÑÐ¸Ðµ, Ð¿ÑÐµÐ´ÑÐ¿ÑÐµÐ¶Ð´Ð°ÑÑÐ¸Ðµ, Ð¿ÑÐµÐ´Ð¿Ð¸ÑÑÐ²Ð°ÑÑÐ¸Ðµ, Ð·Ð½Ð°ÐºÐ¸ Ð¾ÑÐ¾Ð±ÑÑ Ð¿ÑÐµÐ´Ð¿Ð¸ÑÐ°Ð½Ð¸Ð¹. Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼, ÑÐ°ÑÐ¿Ð¾Ð·Ð½Ð°ÑÑÐ¸Ð¹ Ð´Ð¾ÑÐ¾Ð¶Ð½ÑÐµ Ð·Ð½Ð°ÐºÐ¸ Ð½Ð° Ð¾ÑÐ½Ð¾Ð²Ðµ Ð¸Ñ ÑÐ¾ÑÐ¼Ñ, ÑÐ²ÐµÑÐ° ÐºÐ¾Ð½ÑÑÑÐ° Ð¸ Ð¾ÑÐ¾Ð±ÑÑ ÑÐ¾ÑÐµÐº. Ð ÐµÐ·ÑÐ»ÑÑÐ°ÑÐ¾Ð¼ Ð²ÑÐ¿Ð¾Ð»Ð½ÐµÐ½Ð¸Ñ ÑÐ°Ð±Ð¾ÑÑ ÑÐ²Ð»ÑÐµÑÑÑ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼, ÑÐµÐ°Ð»Ð¸Ð·Ð¾Ð²Ð°Ð½Ð½ÑÐ¹ Ð½Ð° ÑÐ·ÑÐºÐµ Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Java Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ Ð±Ð¸Ð±Ð»Ð¸Ð¾ÑÐµÐºÐ¸ ÐºÐ¾Ð¼Ð¿ÑÑÑÐµÑÐ½Ð¾Ð³Ð¾ Ð·ÑÐµÐ½Ð¸Ñ OpenCV. ÐÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¾ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ ÐºÐ°ÑÐµÑÑÐ²Ð° Ð¸ Ð²ÑÐµÐ¼ÐµÐ½Ð¸ ÑÐ°Ð±Ð¾ÑÑ ÑÐµÐ°Ð»Ð¸Ð·Ð¾Ð²Ð°Ð½Ð½Ð¾Ð³Ð¾ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° Ð¿ÑÐ¸ Ð°Ð½Ð°Ð»Ð¸Ð·Ðµ ÑÐ¾ÑÐ¾Ð³ÑÐ°ÑÐ¸Ð¹ Ð´Ð¾ÑÐ¾Ð¶Ð½ÑÑ Ð·Ð½Ð°ÐºÐ¾Ð² Ð¸ ÐºÐ°Ð´ÑÐ¾Ð² Ð²Ð¸Ð´ÐµÐ¾Ð¿Ð¾ÑÐ¾ÐºÐ°, Ð¿Ð¾Ð»ÑÑÐµÐ½Ð½Ð¾Ð³Ð¾ Ñ ÐºÐ°Ð¼ÐµÑÑ ÑÐ¾Ð±Ð¾ÑÐ°. Ð Ð°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ð° Ð·Ð°Ð²Ð¸ÑÐ¸Ð¼Ð¾ÑÑÑ ÑÐ¾ÑÐ½Ð¾ÑÑÐ¸ ÑÐ°ÑÐ¿Ð¾Ð·Ð½Ð°Ð²Ð°Ð½Ð¸Ñ Ð¾Ñ Ð¾ÑÐ²ÐµÑÐµÐ½Ð¸Ñ, Ð¸Ð·Ð¼ÐµÐ½ÐµÐ½Ð¸Ñ ÑÐ³Ð»Ð¾Ð² Ð¿Ð¾Ð²Ð¾ÑÐ¾ÑÐ°, Ð¿ÑÐ¾ÑÐµÐ½ÑÐ° Ð¿ÐµÑÐµÐºÑÑÑÐ¸Ñ Ð´Ð¾ÑÐ¾Ð¶Ð½Ð¾Ð³Ð¾ Ð·Ð½Ð°ÐºÐ°, ÑÐºÐ¾ÑÐ¾ÑÑÐ¸ ÑÐ¾Ð±Ð¾ÑÐ°. ÐÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¾ ÑÑÐ°Ð²Ð½ÐµÐ½Ð¸Ðµ ÑÐ¾ÑÐ½Ð¾ÑÑÐ¸ Ð¸ Ð²ÑÐµÐ¼ÐµÐ½Ð¸ ÑÐ°Ð±Ð¾ÑÑ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð½Ð¾Ð³Ð¾ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° Ñ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð¼ ORB. Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð½ÑÐ¹ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼ ÑÐ°ÑÐ¿Ð¾Ð·Ð½Ð°Ð²Ð°Ð½Ð¸Ñ Ð´Ð¾ÑÐ¾Ð¶Ð½ÑÑ Ð·Ð½Ð°ÐºÐ¾Ð² Ð¼Ð¾Ð¶ÐµÑ ÑÐ²Ð»ÑÑÑÑÑ ÑÐ¾ÑÑÐ°Ð²Ð½Ð¾Ð¹ ÑÐ°ÑÑÑÑ ÐºÐ¾Ð¼Ð¿Ð»ÐµÐºÑÐ½Ð¾Ð³Ð¾ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ ÑÐ¾Ð±Ð¾ÑÐ° Ð² Ð·Ð°Ð²Ð¸ÑÐ¸Ð¼Ð¾ÑÑÐ¸ Ð¾Ñ Ð´Ð¾ÑÐ¾Ð¶Ð½Ð¾Ð¹ ÑÐ¸ÑÑÐ°ÑÐ¸Ð¸. ÐÐ°Ð¿ÑÐ¸Ð¼ÐµÑ, Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼ Ð¼Ð¾Ð¶ÐµÑ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°ÑÑÑÑ Ð´Ð»Ñ Ð¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð¸Ñ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ð¸ Ð¸ ÑÐµÐ¶Ð¸Ð¼Ð° Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ Ð¿ÑÐ¸ Ð²Ð½ÑÑÑÐ¸ÑÐºÐ»Ð°Ð´ÑÐºÐ¾Ð¼ Ð¸ Ð¼ÐµÐ¶ÑÐºÐ»Ð°Ð´ÑÐºÐ¾Ð¼ Ð¿ÐµÑÐµÐ¼ÐµÑÐµÐ½Ð¸Ð¸ Ð³ÑÑÐ·Ð° ÑÐ¾Ð±Ð¾ÑÐ¾Ð¼.
description: The given work is devoted to the development of an algorithm for recognizing road signs on the frames of the video stream received from the robotâs camera. The purpose of the work is to develop road sign recognition algorithm that can work on a mobile robot. In this work, various methods of image recognition were studied and compared. The developed algorithm recognizes prohibiting, warning, prescribing road signs and signs of special instructions based on their shape, outline color and key points. The result of this work is the algorithm implemented using Java programming language using the OpenCV library. The study of the quality and operating time of the implemented algorithm was carried out when analyzing photographs of road signs and frames of a video stream received from the robotâs camera. The dependence of recognition accuracy on lighting, changes in turning angles, percentage of road sign overlap and robot speed is conducted. A comparison of the accuracy and operating time of the developed algorithm with ORB is carried out. The developed algorithm can be a part of the complex robotâs movement algorithm. For example, the algorithm can be used to determine the path and movement mode when transporting goods through the warehouse.