title: ÐÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² Ð°Ð½Ð°Ð»Ð¸Ð·Ð° Ð¿ÑÐ¾ÑÑÑÐ°Ð½ÑÑÐ²ÐµÐ½Ð½Ð¾Ð³Ð¾ ÑÐ°ÑÐ¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ñ Ð¸ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÐºÐ¸ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ Ð¾Ð±ÑÐµÐºÑÐ¾Ð² Ð¾ÐºÑÑÐ¶Ð°ÑÑÐµÐ¹ ÑÑÐµÐ´Ñ Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ Ð¡Ð¢Ð Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ° Ð½Ð° Ð±Ð°Ð·Ðµ ÐºÐ¾Ð¼Ð¿Ð»ÐµÐºÑÐ° Ð¢Ð-ÐºÐ°Ð¼ÐµÑ Â«ÑÑÐ±Ð¸Ð¹ Ð³Ð»Ð°Ð·Â»
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: Research of methods for analyzing the spatial location and dynamics of the movement of environmental objects using a mobile robot based on the fisheye TV camera complex
Creators: name: Ð ÐµÐ´ÑÐ¾Ð², ÐÐ»Ð°Ð´Ð¸ÑÐ»Ð°Ð²
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: 2022
Subjects: ÑÑÐµÑÐµÐ¾Ð·ÑÐµÐ½Ð¸Ðµ
3d ÑÐµÐºÐ¾Ð½ÑÑÑÑÐºÑÐ¸Ñ
ÑÐ¸ÑÐ¾ÐºÐ¾ÑÐ³Ð¾Ð»ÑÐ½ÑÐµ ÐºÐ°Ð¼ÐµÑÑ
ÐºÐ°ÑÑÐ° Ð³Ð»ÑÐ±Ð¸Ð½Ñ
ÑÐ¿Ð¸Ð¿Ð¾Ð»ÑÑÐ½Ð°Ñ Ð³ÐµÐ¾Ð¼ÐµÑÑÐ¸Ñ
stereo vision
3d reconstruction
wide angle cameras
depth map
epipolar geometry

description: Ð¢ÐµÐ¼Ð° Ð²ÑÐ¿ÑÑÐºÐ½Ð¾Ð¹ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ: âÐÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² Ð°Ð½Ð°Ð»Ð¸Ð·Ð° Ð¿ÑÐ¾ÑÑÑÐ°Ð½ÑÑÐ²ÐµÐ½Ð½Ð¾Ð³Ð¾ ÑÐ°ÑÐ¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ñ Ð¸ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÐºÐ¸ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ Ð¾Ð±ÑÐµÐºÑÐ¾Ð² Ð¾ÐºÑÑÐ¶Ð°ÑÑÐµÐ¹ ÑÑÐµÐ´Ñ Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ Ð¡Ð¢Ð Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ° Ð½Ð° Ð±Ð°Ð·Ðµ ÐºÐ¾Ð¼Ð¿Ð»ÐµÐºÑÐ° Ð¢Ð-ÐºÐ°Ð¼ÐµÑ Â«ÑÑÐ±Ð¸Ð¹ Ð³Ð»Ð°Ð·Â»â. ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² Ð°Ð½Ð°Ð»Ð¸Ð·Ð° Ð¾ÐºÑÑÐ¶Ð°ÑÑÐµÐ¹ Ð¾Ð±ÑÑÐ°Ð½Ð¾Ð²ÐºÐ¸ Ð½Ð° Ð¾ÑÐ½Ð¾Ð²Ðµ Ð´Ð°Ð½Ð½ÑÑ ÑÐ¾ ÑÑÐµÑÐµÐ¾Ð¿Ð°ÑÑ Ð½Ð° Ð±Ð°Ð·Ðµ Ð´Ð²ÑÑ Ð¢Ð-ÐºÐ°Ð¼ÐµÑ Ñ ÑÐ¸ÑÐ¾ÐºÐ¾ÑÐ³Ð¾Ð»ÑÐ½Ð¾Ð¹ Ð¾Ð¿ÑÐ¸ÐºÐ¾Ð¹ Ð¿ÑÑÐµÐ¼ Ð²ÑÑÐ¸ÑÐ»ÐµÐ½Ð¸Ñ Ð¾Ð±Ð»Ð°ÐºÐ° ÑÐ¾ÑÐµÐº, ÑÐ¾Ð¾ÑÐ²ÐµÑÑÑÐ²ÑÑÑÐµÐ³Ð¾ ÑÐ°ÑÑÐ¼Ð°ÑÑÐ¸Ð²Ð°ÐµÐ¼Ð¾Ð¹ ÑÑÐµÐ½Ðµ. Ð ÑÐ°Ð¼ÐºÐ°Ñ ÑÐ°Ð±Ð¾ÑÑ ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ñ Ð°Ð½Ð°Ð»Ð¾Ð³Ð¸ ÑÐ¸ÑÑÐµÐ¼ Ð°Ð½Ð°Ð»Ð¸Ð·Ð° Ð¾ÐºÑÑÐ¶ÐµÐ½Ð¸Ñ Ð¸Ð· Ð¶Ð¸Ð²Ð¾Ð¹ Ð¿ÑÐ¸ÑÐ¾Ð´Ñ Ð¸ Ð½Ð° Ð±Ð°Ð·Ðµ Ð´ÑÑÐ³Ð¸Ñ ÑÑÑÑÐ¾Ð¹ÑÑÐ² Ð¸ Ð´Ð°ÑÑÐ¸ÐºÐ¾Ð², ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ðµ Ð¿ÑÐ¾ÐµÐºÑÑ, Ð° ÑÐ°ÐºÐ¶Ðµ Ð¾ÑÐ½Ð¾Ð²Ð½ÑÐµ Ð¼ÐµÑÐ¾Ð´Ñ ÑÐµÑÐµÐ½Ð¸Ñ Ð¿Ð¾ÑÑÐ°Ð²Ð»ÐµÐ½Ð½Ð¾Ð¹ Ð·Ð°Ð´Ð°ÑÐ¸. ÐÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¾ Ð² Ð²Ð¸ÑÑÑÐ°Ð»ÑÐ½Ð¾Ð¹ ÑÑÐµÐ´Ðµ, Ñ Ð²ÑÑÐ¾ÐºÐ¾Ð¹ ÑÐ¾ÑÐ½Ð¾ÑÑÑÑ, Ð¿Ð¾Ð²ÑÐ¾ÑÑÑÑÐµÐ¹ ÑÑÐ»Ð¾Ð²Ð¸Ñ ÑÐµÐ°Ð»ÑÐ½Ð¾Ð³Ð¾ Ð¼Ð¸ÑÐ°. ÐÑÐ¾Ð¸Ð·Ð²ÐµÐ´ÐµÐ½Ð° Ð¾ÑÐµÐ½ÐºÐ° Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² Ð½Ð° Ð¾ÑÐ½Ð¾Ð²Ðµ Ð²ÑÐ±ÑÐ°Ð½Ð½ÑÑ ÐºÑÐ¸ÑÐµÑÐ¸ÐµÐ² Ð¸ Ð¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½ Ð½Ð°Ð¸Ð±Ð¾Ð»ÐµÐµ Ð¿Ð¾Ð´ÑÐ¾Ð´ÑÑÐ¸Ð¹ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼ Ð´Ð»Ñ ÑÐµÑÐµÐ½Ð¸Ñ Ð¿Ð¾ÑÑÐ°Ð²Ð»ÐµÐ½Ð½Ð¾Ð¹ Ð·Ð°Ð´Ð°ÑÐ¸.
description: The subject of the graduate qualification work is âResearch of methods for analyzing the spatial location and dynamics of the movement of environmental objects using a mobile robot based on the fisheye TV camera complexâ. This work is devoted to the study of methods for analyzing the environment based on data from a stereo pair based on two TV cameras with wide-angle optics by calculating a point cloud corresponding to the scene under consideration. As part of the work, analogs of environmental analysis systems from wildlife and based on other devices and sensors, existing projects, as well as basic methods for solving the task are considered. The study was conducted in a virtual environment, with high accuracy, repeating the conditions of the real world. The algorithms were evaluated based on the selected criteria and the most suitable algorithm for solving the problem was determined.