title: Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÑÐ¸ÑÑÐµÐ¼Ñ Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð³Ð¾ ÑÐ°ÑÐ¿Ð¾Ð·Ð½Ð°Ð²Ð°Ð½Ð¸Ñ Ð¼Ð¾ÑÑÐºÐ¸Ñ Ð·Ð½Ð°ÐºÐ¾Ð² Ð´Ð»Ñ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¸ Ð½Ð°Ð´Ð²Ð¾Ð´Ð½Ð¾Ð³Ð¾ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½Ð¾Ð³Ð¾ ÑÑÐ´Ð½Ð°
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: Development of a system for automatic recognition of sea signs for navigation of a surface unmanned vessel
Creators: name: ÐÐ¾Ð·Ð»Ð¾Ð², ÐÐ°Ð½Ð¸Ð¸Ð»
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: ÐÐ½ÑÐ¾ÑÐ¼Ð°ÑÐ¸Ð¾Ð½Ð½ÑÐµ ÑÐµÑ Ð½Ð¾Ð»Ð¾Ð³Ð¸Ð¸
ÐÐ°Ð²Ð¸Ð³Ð°ÑÐ¸Ñ
Ð Ð°ÑÐ¿Ð¾Ð·Ð½Ð°Ð²Ð°Ð½Ð¸Ðµ Ð¾Ð±ÑÐ°Ð·Ð¾Ð²
Ð¡ÑÐ´Ð°
Ð¼Ð°ÑÐ¸Ð½Ð½Ð¾Ðµ Ð¾Ð±ÑÑÐµÐ½Ð¸Ðµ
Ð¾Ð±Ð½Ð°ÑÑÐ¶ÐµÐ½Ð¸Ðµ Ð¾Ð±ÑÐµÐºÑÐ¾Ð²
Ð¼Ð¾ÑÑÐºÐ¸Ðµ Ð·Ð½Ð°ÐºÐ¸
machine learning
object detection
sea signs

description: Ð¢ÐµÐ¼Ð° Ð²ÑÐ¿ÑÑÐºÐ½Ð¾Ð¹ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ: Â«Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÑÐ¸ÑÑÐµÐ¼Ñ Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð³Ð¾ ÑÐ°ÑÐ¿Ð¾Ð·Ð½Ð°Ð²Ð°Ð½Ð¸Ñ Ð¼Ð¾ÑÑÐºÐ¸Ñ Ð·Ð½Ð°ÐºÐ¾Ð² Ð´Ð»Ñ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¸ Ð½Ð°Ð´Ð²Ð¾Ð´Ð½Ð¾Ð³Ð¾ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½Ð¾Ð³Ð¾ ÑÑÐ´Ð½Ð°Â». ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐµ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ°ÑÐ¿Ð¾Ð·Ð½Ð°Ð²Ð°Ð½Ð¸Ñ Ð¸ Ð¸Ð½ÑÐµÑÐ¿ÑÐµÑÐ°ÑÐ¸Ð¸ Ð¼Ð¾ÑÑÐºÐ¸Ñ Ð·Ð½Ð°ÐºÐ¾Ð² Ð² ÑÐµÐ¶Ð¸Ð¼Ðµ ÑÐµÐ°Ð»ÑÐ½Ð¾Ð³Ð¾ Ð²ÑÐµÐ¼ÐµÐ½Ð¸ Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² Ð¼Ð°ÑÐ¸Ð½Ð½Ð¾Ð³Ð¾ Ð¾Ð±ÑÑÐµÐ½Ð¸Ñ. Ð ÑÐ¾Ð´Ðµ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ¸ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐµÑÐ°Ð»Ð¸ÑÑ ÑÐ»ÐµÐ´ÑÑÑÐ¸Ðµ Ð·Ð°Ð´Ð°ÑÐ¸: 1. ÐÐ·ÑÑÐµÐ½Ð¸Ðµ Ð¾ÑÐ½Ð¾Ð² ÑÑÐ´Ð¾Ð²Ð¾Ð¹ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¸ Ð¿Ð¾ Ð¿Ð»Ð°Ð²ÑÑÐ¸Ð¼ Ð¼Ð¾ÑÑÐºÐ¸Ð¼ Ð·Ð½Ð°ÐºÐ°Ð¼ 2. ÐÐ½Ð°Ð»Ð¸Ð· ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ñ ÑÑÐµÐ´ÑÑÐ² Ð¾Ð±Ð½Ð°ÑÑÐ¶ÐµÐ½Ð¸Ñ Ð¾Ð±ÑÐµÐºÑÐ¾Ð² Ð½Ð° Ð¸Ð·Ð¾Ð±ÑÐ°Ð¶ÐµÐ½Ð¸ÑÑ, Ð²ÑÐ±Ð¾Ñ Ð½Ð°Ð¸Ð»ÑÑÑÐµÐ¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð¸ Ð¾Ð±Ð¾ÑÐ½Ð¾Ð²Ð°Ð½Ð¸Ðµ ÑÐµÐ»ÐµÑÐ¾Ð¾Ð±ÑÐ°Ð·Ð½Ð¾ÑÑÐ¸ ÐµÑ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸Ñ Ð² Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½ÑÑ ÑÐ¸ÑÑÐµÐ¼Ð°Ñ Ð´Ð»Ñ ÑÐ°ÑÐ¿Ð¾Ð·Ð½Ð°Ð²Ð°Ð½Ð¸Ñ Ð¿Ð»Ð°Ð²ÑÑÐ¸Ñ Ð·Ð½Ð°ÐºÐ¾Ð² Ð² ÑÐµÐ°Ð»ÑÐ½Ð¾Ð¼ Ð²ÑÐµÐ¼ÐµÐ½Ð¸ 3. Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð¸ ÑÐµÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ°ÑÐ¿Ð¾Ð·Ð½Ð°Ð²Ð°Ð½Ð¸Ñ Ð¼Ð¾ÑÑÐºÐ¸Ñ Ð·Ð½Ð°ÐºÐ¾Ð², Ð°Ð½Ð°Ð»Ð¸Ð· Ð¿Ð¾Ð»ÑÑÐµÐ½Ð½ÑÑ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐ¾Ð² 4. ÐÐ½ÑÐµÑÐ¿ÑÐµÑÐ°ÑÐ¸Ñ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐ¾Ð² ÑÐ°ÑÐ¿Ð¾Ð·Ð½Ð°Ð²Ð°Ð½Ð¸Ñ Ð¸ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ðµ Ð½Ð° Ð¸Ñ Ð¾ÑÐ½Ð¾Ð²Ðµ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ ÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ ÑÑÐ´Ð½Ð° Ð´Ð»Ñ ÑÐ¸ÑÑÐ°ÑÐ¸Ð¹ Ð·Ð°ÑÐ¾Ð´Ð° Ð² Ð¿Ð¾ÑÑ Ð¸Ð»Ð¸ Ð²ÑÑÐ¾Ð´Ð° Ð² Ð¾ÑÐºÑÑÑÐ¾Ðµ Ð¼Ð¾ÑÐµ. Ð Ð¿ÑÐ¾ÑÐµÑÑÐµ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ¸ Ð±ÑÐ»Ð° Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð° Ð¼Ð¾Ð´ÐµÐ»Ñ Ð³Ð»ÑÐ±Ð¾ÐºÐ¾Ð³Ð¾ YOLO_v4. Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼ ÑÐ°Ð±Ð¾ÑÑ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ°ÑÐ¿Ð¾Ð·Ð½Ð°Ð²Ð°Ð½Ð¸Ñ, Ð¾ÑÑÑÐµÑÑÐ²Ð»ÐµÐ½Ð¾ ÑÐµÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ ÑÐ¸ÑÑÐµÐ¼Ñ Ð½Ð° Ð²Ð¸Ð´ÐµÐ¾ Ð¸ Ð¿ÑÐ¸Ð²ÐµÐ´ÑÐ½ Ð¿ÑÐ¸Ð¼ÐµÑ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ñ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ ÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ ÑÑÐ´Ð½Ð°. ÐÑÐ¾Ð¸Ð·Ð²ÐµÐ´ÐµÐ½Ð° Ð¾ÑÐµÐ½ÐºÐ° ÑÐµÐ»ÐµÑÐ¾Ð¾Ð±ÑÐ°Ð·Ð½Ð¾ÑÑÐ¸ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸Ñ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð½Ð¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ñ Ð´Ð»Ñ Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð¹ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¸ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½ÑÑ Ð½Ð°Ð´Ð²Ð¾Ð´Ð½ÑÑ ÑÑÐ´Ð¾Ð², Ð° ÑÐ°ÐºÐ¶Ðµ ÐºÐ°Ðº Ð² ÐºÐ°ÑÐµÑÑÐ²Ðµ Ð´Ð¾Ð¿Ð¾Ð»Ð½Ð¸ÑÐµÐ»ÑÐ½Ð¾Ð¹ ÑÐµÐºÐ¾Ð¼ÐµÐ½Ð´Ð°ÑÐµÐ»ÑÐ½Ð¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ñ Ð½Ð° ÐºÐ¾ÑÐ°Ð±Ð»ÑÑ Ñ ÑÐºÐ¸Ð¿Ð°Ð¶ÐµÐ¼.
description: The subject of the graduate qualification work: "Development of a system for automatic recognition of sea signs for navigation of a surface unmanned vessel". This work is devoted to development of a system for recognition and interpretation of marine signs in real time using machine learning algorithms. During the development of the system, the following tasks were solved: 1. Study of the basics of ship navigation by floating sea signs 2. Analysis of the existing means of detecting objects on images, selection of the best model and justification of the feasibility of its use in unmanned systems for the recognition of floating signs in real time 3. Development and testing of the marine sign recognition system, analysis of the results obtained 4. Interpretation of the recognition results and building on their basis a navigation model of the ship's route for situations of port entry or exit to the open sea. During the development process, the YOLO_v4 deep learning model was used. The algorithm of the recognition system operation was developed, the system was tested on video, and an example of building a navigation model of the vessel's route was given. The feasibility of using the developed system for automatic navigation of unmanned surface vessels, as well as the additional recommendation system on ships with a crew, was evaluated.