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The idea of a Multi-angles system of technical vision for the formation of 3D-models of the surface of an object in the tasks of developing mobile robots
Bagutdinov Ravil

PhD student of the Engineering School of Information Technology and Robotics, Assistant of the Department of Automation and Robotics, Programmer of the Scientific and Educational Laboratory of 3D Modeling and Industrial Design, National Research Tomsk Polytechnic University

634034, Russia, Tomskaya oblast', g. Tomsk, ul. Sovetskaya, 84/3, of. 216

ravil_bagutdinov@yahoo.com
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Abstract.

To date, the problem of developing systems, algorithms and methods for spatial orientation and navigation of robots remains one of the most urgent problems. The subject of the study are multi-angle and bipolar systems of technical vision, as well as an algorithm for the formation of 3D models of the surface of objects. The author examines in detail such aspects in the development of mobile robots, as ways of obtaining information about the three-dimensional scene, estimation of the depth of the scene, integration, the method of constructing epipolar lines, some elements of virtual reality are touched upon. Applied approaches in the work are based on the methods of digital image processing, image recognition, discrete transformations and system analysis, a method for constructing epipolar lines is given. The work also considers the formation of 3D models of the surface of the object in the systems of technical vision, applied to mobile robots, an algorithm for determining the distance to the points on the surface of the object in the systems of technical vision on the mobile robot. The results of the research can be applied in systems for modernizing the management, monitoring and processing of information, providing more accurate technical vision in the development of mobile and autonomous robots, which in turn can affect the import substitution and the overall economic component of the use and development of robotic systems and systems.

Keywords: technical vision, methods, algorithms, the development of mobile robots, forming a 3D, bipolar system, Multi-angles system, digital processing, Multi-Sensor system, robotic systems

DOI:

10.7256/2454-0714.2017.4.21909

Article was received:

23-02-2017


Review date:

19-02-2017


Publish date:

11-01-2018


This article written in Russian. You can find full text of article in Russian here .

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