title: Ð£Ð»ÑÑÑÐµÐ½Ð¸Ðµ Ð²Ð¸Ð·ÑÐ°Ð»ÑÐ½Ð¾Ð¹ ÑÐ¾ÑÑÐ°Ð²Ð»ÑÑÑÐµÐ¹ ÑÐ¸Ð¼ÑÐ»ÑÑÐ¾ÑÐ° Ð¼Ð°Ð»Ð¾Ð³Ð°Ð±Ð°ÑÐ¸ÑÐ½Ð¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð°Ð²ÑÐ¾Ð½Ð¾Ð¼Ð½Ð¾Ð³Ð¾ Ð°Ð²ÑÐ¾Ð¼Ð¾Ð±Ð¸Ð»Ñ (ÐÐÐÐ) Ñ ÑÐµÐ»ÑÑ Ð²Ð½ÐµÐ´ÑÐµÐ½Ð¸Ñ Ð¸Ð½ÑÑÑÑÐ¼ÐµÐ½ÑÐ¾Ð² Ð´Ð»Ñ ÑÐ°Ð±Ð¾ÑÑ ÑÐ¸ÑÑÐµÐ¼ ÑÐµÑ Ð½Ð¸ÑÐµÑÐºÐ¾Ð³Ð¾ Ð·ÑÐµÐ½Ð¸Ñ
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: Enhancing the visual part of autonomous automobile low-profile model (AALM) to implement systems for the computer vision ability
Creators: name: ÐÐ²Ð°Ð½, ÐÐ°Ð»ÐµÑÐ¸Ð¹
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: ros
gazebo
Ð²Ð¸Ð·ÑÐ°Ð»ÑÐ½ÑÐµ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ñ Ð»Ð¾ÐºÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ð¸ Ð¸ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ñ ÐºÐ°ÑÑÑ
rtabmap
ÑÐµÐºÑÑÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ
Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ
ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð½Ð¾Ð³Ð¾ Ð¼Ð¾Ð´ÑÐ»Ñ
visual slam
texturing
modeling
programm module developing

description: Ð Ð´Ð°Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÐµ Ð±ÑÐ»Ð¸ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ñ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð¾ ÑÐ¾Ð¼, Ð½Ð°ÑÐºÐ¾Ð»ÑÐºÐ¾ ÑÐ»ÑÑÑÐµÐ½Ð¸Ðµ Ð²Ð¸Ð·ÑÐ°Ð»ÑÐ½Ð¾Ð¹ ÑÐ¾ÑÑÐ°Ð²Ð»ÑÑÑÐµÐ¹ ÑÐ¸Ð¼ÑÐ»ÑÑÐ¾ÑÐ° Ð²Ð»Ð¸ÑÐµÑ Ð½Ð° Ð»Ð¾ÐºÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ñ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð² Ð²Ð¸ÑÑÑÐ°Ð»ÑÐ½Ð¾Ð¼ Ð¿ÑÐ¾ÑÑÑÐ°Ð½ÑÑÐ²Ðµ. ÐÐ°Ð´Ð°ÑÐ¸, ÐºÐ¾ÑÐ¾ÑÑÐµ ÑÐµÑÐ°Ð»Ð¸ÑÑ Ð² ÑÐ¾Ð´Ðµ Ð²ÑÐ¿Ð¾Ð»Ð½ÐµÐ½Ð¸Ñ ÑÐ°Ð±Ð¾ÑÑ: 1. ÐÐ·ÑÑÐµÐ½Ð¸Ðµ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÑ Ð±Ð¸Ð±Ð»Ð¸Ð¾ÑÐµÐº, Ð¸ÑÐ¿Ð¾Ð»ÑÐ·ÑÑÑÐ¸Ñ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ñ Visual SLAM Ð¸ Ð²Ð¾Ð·Ð¼Ð¾Ð¶Ð½Ð¾ÑÑÐµÐ¹ ÑÐ¸Ð¼ÑÐ»ÑÑÐ¾ÑÐ° gazebo. 2. Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð½Ð¾Ð³Ð¾ Ð¼Ð¾Ð´ÑÐ»Ñ ÑÐ¸ÑÑÐµÐ¼Ñ ROS Ð´Ð»Ñ ÐÐÐÐ Ð¸ ÑÐ»ÑÑÑÐµÐ½Ð¸Ðµ Ð²Ð¸Ð·ÑÐ°Ð»ÑÐ½Ð¾Ð¹ ÑÐ¾ÑÑÐ°Ð²Ð»ÑÑÑÐµÐ¹ Ð²Ð¸ÑÑÑÐ°Ð»ÑÐ½Ð¾Ð³Ð¾ Ð¾ÐºÑÑÐ¶ÐµÐ½Ð¸Ñ. 3. ÐÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¸Ðµ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÐ¾Ð² Ð¿Ð¾ Ð»Ð¾ÐºÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ð¸. ÐÐ°Ð½Ð½ÑÐµ Ð½Ð°ÑÐ°Ð±Ð¾ÑÐºÐ¸ Ð±ÑÐ´ÑÑ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ñ Ð² Ð¾Ð´Ð½Ð¾Ð¹ Ð¸Ð· Ð´Ð¸ÑÑÐ¸Ð¿Ð»Ð¸Ð½ Ð² Ð¡ÐÐÐÐ£, Ð° ÑÐ°ÐºÐ¶Ðµ Ð² Ð»Ð°Ð±Ð¾ÑÐ°ÑÐ¾ÑÐ¸Ð¸ Â«ÐÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½ÑÐµ ÑÐ¸ÑÑÐµÐ¼Ñ Ð¿Ð¾ÑÐ¾ÐºÐ¾Ð²Ð¾Ð¹ Ð¾Ð±ÑÐ°Ð±Ð¾ÑÐºÐ¸ Ð´Ð°Ð½Ð½ÑÑÂ» Ð´Ð»Ñ Ð´Ð°Ð»ÑÐ½ÐµÐ¹ÑÐµÐ³Ð¾ Ð¿ÑÐ¾Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ Ð² ÑÑÐ¾Ð¹ Ð¾Ð±Ð»Ð°ÑÑÐ¸. Ð ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐµ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½ Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð½ÑÐ¹ Ð¼Ð¾Ð´ÑÐ»Ñ Ð´Ð»Ñ Ð¼Ð¾Ð´ÐµÐ»Ð¸, Ð¸ÑÐ¿Ð¾Ð»ÑÐ·ÑÑÑÐ¸Ð¹ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ñ Visual SLAM Ð´Ð»Ñ Ð»Ð¾ÐºÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ð¸ Ð¸ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¾ ÑÐ»ÑÑÑÐµÐ½Ð¸Ðµ Ð²Ð¸Ð·ÑÐ°Ð»ÑÐ½Ð¾Ð¹ ÑÐ¾ÑÑÐ°Ð²Ð»ÑÑÑÐµÐ¹ Ð² ÑÐ¸Ð¼ÑÐ»ÑÑÐ¾ÑÐµ gazebo. Ð­ÑÐ¾ Ð¿Ð¾Ð·Ð²Ð¾Ð»Ð¸Ð»Ð¾ Ð¿ÑÐ¾Ð²ÐµÑÑÐ¸ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÑ Ð¿Ð¾ Ð»Ð¾ÐºÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ð¸ ÐÐÐÐ Ñ ÑÐ°Ð·Ð»Ð¸ÑÐ½Ð¾Ð¹ Ð²Ð¸Ð·ÑÐ°Ð»ÑÐ½Ð¾Ð¹ ÑÐ¾ÑÑÐ°Ð²Ð»ÑÑÑÐµÐ¹. ÐÑÐ¸ ÑÑÐ°Ð²Ð½ÐµÐ½Ð¸Ð¸ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐ¾Ð² ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÐ¾Ð² Ð¼Ð¾Ð¶Ð½Ð¾ ÑÐ´ÐµÐ»Ð°ÑÑ Ð²ÑÐ²Ð¾Ð´Ñ Ð¾ Ð²Ð°Ð¶Ð½Ð¾ÑÑÐ¸ ÑÐ»ÑÑÑÐµÐ½Ð¸Ñ Ð²Ð¸Ð·ÑÐ°Ð»ÑÐ½Ð¾Ð¹ ÑÐ¾ÑÑÐ°Ð²Ð»ÑÑÑÐµÐ¹ Ð¿ÑÐ¸ Ð·Ð°Ð´Ð°ÑÐµ Ð»Ð¾ÐºÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ð¸.
description: This paper is focused on researching how an enhancing of the simulator visual component interfering with model localization in a virtual space. Tasks that were solved within this work: 1. Exploration of different libraries, that use Visual SLAM algorithms and possibilities of the gazebo simulator. 2. The ROS system program module development for AALM library and enhancing of the virtual environment visual component. 3. Experimenting with localization. These final products of the research can be used in St. Petersburg Polytechnic University for educational purpose and in Â«Industrial systems for streaming data processingÂ» laboratory for forward studying in this field. As result, the Program module, that use Visual SLAM algorithms for the AALM localization in virtual space, was developed and visual component enhancing was made in simulator Gazebo. It allowed to make experiments with the localization of AALM in the virtual space with different visual components. Comparing of these experiment results leads to conclusion about how is important an enhancing of visual component in a localization task.