title: ÐÐ¸Ð·ÑÐ°Ð»ÑÐ½Ð°Ñ Ð¾Ð´Ð¾Ð¼ÐµÑÑÐ¸Ñ Ð´Ð»Ñ Ð´Ð°Ð½Ð½ÑÑ Ñ Ð¸Ð½ÑÐµÑÐ²Ð°Ð»ÑÐ½Ð¾Ð¹ Ð½ÐµÐ¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð½Ð¾ÑÑÑ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: Visual odometry for data with interval uncertainty
Creators: name: ÐÑÐ¸Ð¹Ð¼Ð°Ðº, ÐÐ²Ð³ÐµÐ½Ð¸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: 2023
Subjects: Ð²Ð¸Ð·ÑÐ°Ð»ÑÐ½Ð°Ñ Ð¾Ð´Ð¾Ð¼ÐµÑÑÐ¸Ñ
Ð¸Ð½ÑÐµÑÐ²Ð°Ð»ÑÐ½Ð°Ñ Ð½ÐµÐ¾Ð¿ÑÐµÐ´ÐµÐ»ÑÐ½Ð½Ð¾ÑÑÑ
Ð»Ð¾ÐºÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ñ
visual odometry
interval uncertainty
localization

description: ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° ÑÐ²Ð»ÑÐµÑÑÑ Ð¿ÑÐ¾Ð´Ð¾Ð»Ð¶ÐµÐ½Ð¸ÐµÐ¼ ÑÐ°Ð±Ð¾ÑÑ ÐÐ¾Ð²Ð°Ð»ÐµÐ½ÐºÐ¾ Ð. Ð¡, ÐÐ°Ð¶ÐµÐ½Ð¾Ð²Ð° Ð. Ð. &lt;&lt;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¸&gt;&gt; (2021), Ð² ÑÐ²ÑÐ·Ð¸ Ñ ÑÐµÐ¼ ÑÐ½Ð°ÑÐ°Ð»Ð° Ð¾Ð¿Ð¸ÑÐµÐ¼ ÐµÑ Ð·Ð°Ð´Ð°ÑÑ. ÐÐ¾ Ð²Ð¸Ð´ÐµÐ¾Ð·Ð°Ð¿Ð¸ÑÐ¸, ÑÐ½ÑÑÐ¾Ð¹ RGB-D ÐºÐ°Ð¼ÐµÑÐ¾Ð¹ Ð¿ÑÐ¸ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ð¸ Ð¿Ð¾ Ð¿Ð»Ð¾ÑÐºÐ¾Ð¹ Ð¿Ð¾Ð²ÐµÑÑÐ½Ð¾ÑÑÐ¸, Ñ Ð¿Ð¾Ð¼Ð¾ÑÑÑ Ð¼ÐµÑÐ¾Ð´Ð° ORB-SLAM2 Ð²ÑÑÐ¸ÑÐ»ÑÑÑÑÑ ÐºÐ¾Ð¾ÑÐ´Ð¸Ð½Ð°ÑÑ (Ð² Ð·Ð°Ð´Ð°Ð½Ð½Ð¾Ð¹ Ð² ÑÑÐ¾Ð¹ Ð¿Ð»Ð¾ÑÐºÐ¾ÑÑÐ¸ Ð³Ð»Ð¾Ð±Ð°Ð»ÑÐ½Ð¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ðµ ÐºÐ¾Ð¾ÑÐ´Ð¸Ð½Ð°Ñ) ÑÐ¾ÑÐµÐº ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ð¸ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ. ÐÐ°Ð»ÐµÐµ Ð½Ð° Ð²ÑÑÐ¸ÑÐ»ÐµÐ½Ð½Ð¾Ð¹ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ð¸ Ð¸ÑÐµÑÑÑ Ð¿Ð¾Ð²Ð¾ÑÐ¾Ñ Ñ Ð¸Ð½ÑÐµÑÐµÑÑÑÑÐ¸Ð¼ Ð½Ð°Ñ Ð¿Ð¾ÑÑÐ´ÐºÐ¾Ð²ÑÐ¼ Ð½Ð¾Ð¼ÐµÑÐ¾Ð¼, ÐµÑÐ»Ð¸ ÑÐ°ÐºÐ¾Ð²Ð¾Ð¹ ÑÑÑÐµÑÑÐ²ÑÐµÑ. ÐÑÑÐµÑÑÐ²ÐµÐ½Ð½Ð¾, Ð²ÑÑÐ¸ÑÐ»ÐµÐ½Ð½ÑÐµ ÐºÐ¾Ð¾ÑÐ´Ð¸Ð½Ð°ÑÑ Ð½Ðµ ÑÐ²Ð»ÑÑÑÑÑ ÑÐ¾ÑÐ½ÑÐ¼Ð¸, Ð¿Ð¾ÑÑÐ¾Ð¼Ñ Ð´Ð»Ñ ÐºÐ°Ð¶Ð´Ð¾Ð¹ ÑÐ¾ÑÐºÐ¸ Ð½Ð° Ð¾ÑÐ½Ð¾Ð²Ðµ ÑÑÐ¸Ñ Ð¿ÑÐ¸Ð±Ð»Ð¸Ð¶ÑÐ½Ð½ÑÑ ÐºÐ¾Ð¾ÑÐ´Ð¸Ð½Ð°Ñ Ð²ÑÑÑÐ½ÑÑ Ð·Ð°Ð´Ð°ÑÑÑÑ Ð¸Ð½ÑÐµÑÐ²Ð°Ð»Ñ Ð½ÐµÐ½ÑÐ»ÐµÐ²Ð¾Ð¹ Ð´Ð»Ð¸Ð½Ñ, Ð² ÐºÐ¾ÑÐ¾ÑÑÑ, ÐºÐ°Ðº Ð¿ÑÐµÐ´Ð¿Ð¾Ð»Ð°Ð³Ð°ÐµÑÑÑ, ÑÐ¾Ð´ÐµÑÐ¶Ð°ÑÑÑ ÑÐ¾ÑÐ½ÑÐµ ÐµÑ ÐºÐ¾Ð¾ÑÐ´Ð¸Ð½Ð°ÑÑ. ÐÐ° Ð¾ÑÐ½Ð¾Ð²Ðµ ÑÑÐ¸Ñ Ð¸Ð½ÑÐµÑÐ²Ð°Ð»Ð¾Ð² ÑÑÐµÐ±ÑÐµÑÑÑ Ð°Ð¿Ð¿ÑÐ¾ÐºÑÐ¸Ð¼Ð¸ÑÐ¾Ð²Ð°ÑÑ ÑÐ¾ÑÐ½ÑÑ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ñ Ð¿Ð¾Ð²Ð¾ÑÐ¾ÑÐ° Ð¿Ð°ÑÐ°Ð±Ð¾Ð»Ð¾Ð¹, Ð¾ÑÑ ÐºÐ¾ÑÐ¾ÑÐ¾Ð¹ ÑÐ¾Ð²Ð¿Ð°Ð´Ð°ÐµÑ Ñ Ð¾Ð´Ð½Ð¾Ð¹ Ð¸Ð· Ð¾ÑÐµÐ¹ Ð³Ð»Ð¾Ð±Ð°Ð»ÑÐ½Ð¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ñ ÐºÐ¾Ð¾ÑÐ´Ð¸Ð½Ð°Ñ Ð´Ð°Ð½Ð½Ð¾Ð¹ Ð¿Ð»Ð¾ÑÐºÐ¾ÑÑÐ¸. Ð Ð´Ð°Ð½Ð½Ð¾Ð¹ Ð¶Ðµ ÑÐ°Ð±Ð¾ÑÐµ ÑÐµÑÐ°ÐµÑÑÑ Ð±Ð¾Ð»ÐµÐµ Ð¾Ð±ÑÐ°Ñ Ð·Ð°Ð´Ð°ÑÐ°: Ð¿Ð¾ ÑÐµÐ¼ Ð¶Ðµ Ð¸Ð½ÑÐµÑÐ²Ð°Ð»Ð°Ð¼ ÑÐ¾ÑÐ½Ð°Ñ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ñ Ð¿Ð¾Ð²Ð¾ÑÐ¾ÑÐ° Ð°Ð¿Ð¿ÑÐ¾ÐºÑÐ¸Ð¼Ð¸ÑÑÐµÑÑÑ Ð¿ÑÐ¾Ð¸Ð·Ð²Ð¾Ð»ÑÐ½Ð¾Ð¹ ÐºÑÐ¸Ð²Ð¾Ð¹ Ð²ÑÐ¾ÑÐ¾Ð³Ð¾ Ð¿Ð¾ÑÑÐ´ÐºÐ°. Ð ÐµÐ·ÑÐ»ÑÑÐ°ÑÑ ÑÐ°Ð±Ð¾ÑÑ Ð¿Ð»Ð°Ð½Ð¸ÑÑÐµÑÑÑ Ð¿ÑÐ¸Ð¼ÐµÐ½Ð¸ÑÑ Ð² ÑÐ¸ÑÑÐµÐ¼Ðµ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð³Ð¾ÑÐ¾Ð´ÑÐºÐ¸Ð¼Ð¸Â  ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑÐ½ÑÐ¼Ð¸ Ð¿Ð¾ÑÐ¾ÐºÐ°Ð¼Ð¸, ÑÐ°Ð·ÑÐ°Ð±Ð°ÑÑÐ²Ð°ÐµÐ¼Ð¾Ð¹ Ð. ÐÐ°ÑÐµÑÐºÐ¾Ð²Ð½ÑÐ¼ Ð¸ Ð. Ð. ÐÑÑÐ¼Ð¸Ð½ÑÐºÐ¸Ð¼ Ð² Ð³. ÐÐ»Ð°Ð´Ð¸Ð²Ð¾ÑÑÐ¾Ðº.
description: This work is a continuation of work &lt;&gt;, written by N. S. Kovalenko, A. N. Bazhenov in 2021, so at first we describe the problem of that work. Coordinates of points of motion path on a plane (in the global coordinate system associated with this plane) are calculated using ORB-SLAM2 method based on a video taken by an RGB-D camera. Then a turn has a given number is searched in the calculated trajectory. Calculated coordinates of turn points are not exact, therefore we manually construct intervals have non-zero length that contain precise coordinates of these turn points. It is required to approximate turn trajectory using these intervals by parabola, whose axis coincides with one of the axis of the global coordinate system of this plane. We will try to solve more general problem: we will approximate the rotations using these intervals by arbitrary second-order curve. The results of this work are planned to be applied in the urban traffic management system being developed by A. Zatserkovny and E. A. Nurminsky in Vladivostok.