title: ÐÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¸Ðµ Ð½ÐµÐ¹ÑÐ¾ÑÐµÑÐµÐ²ÑÑ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² Ð²Ð¸Ð·ÑÐ°Ð»ÑÐ½Ð¾Ð¹ Ð»Ð¾ÐºÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ð¸ Ð¸ ÐºÐ°ÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð² Ð·Ð°Ð´Ð°ÑÐµ Ð°Ð½Ð°Ð»Ð¸Ð·Ð° Ð¾Ð±ÑÑÐ°Ð½Ð¾Ð²ÐºÐ¸ 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° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: The application of neural network methods of visual localization and mapping in the task of analyzing the situation by a mobile robot
Creators: name: ÐÐ»ÑÑÐ¾Ð², ÐÐµÐ½Ð¸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: 2024
Subjects: ÐÐµÐ¹ÑÐ¾Ð½Ð½ÑÐµ ÑÐµÑÐ¸
Ð Ð¾Ð±Ð¾ÑÑ
Ð¾ÐºÑÑÐ¶Ð°ÑÑÐ°Ñ ÑÑÐµÐ´Ð°
Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð¼ÐµÑÑÐ½Ð¾ÑÑÐ¸
Ð´ÐµÑÐµÐºÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ
Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ°Ñ ÑÑÐµÐ´Ð°
environment
terrain exploration
detection
dynamic environment

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description: The topic of the final qualification work is Â«The application of neural network methods of visual localization and mapping in the task of analyzing the situation by a mobile robotÂ». The aim of the work is to study the available solutions to the problem of visual simultaneous localization and mapping using neural network methods for analyzing the environment by a mobile robot. The object of the study is algorithms of various visual algorithms using neural networks. In the course of the work, an analysis of existing algorithms using neural networks in different areas was performed VSLAM, and input data in the visual SLAM system used by the mobile robot was structured. Based on one of the most urgent tasks of modern visual SLAM, orientation in a dynamic environment, algorithms for detecting dynamic objects and their semantic segmentation are considered and analyzed. As a result of the analysis, a VSLAM system was proposed and built using the YOLOv9 neural network architecture for detecting and semantic segmentation of dynamic objects. Experiments were carried out on various sets of databases, compared with other analogues, and the operation of the system was tested on a simulated scene.