Abstract
The article discusses the preprocessing algorithms of three-dimensional clouds of points from structured light cameras, methods of image recognition, algorithms for constructing maps and route planning for robot motion. Various methods and algorithms for the transformation of a three-dimensional cloud of points leads to reduction of computational complexity of all stages of data processing for implementation of the algorithm on an onboard navigation system with limited computing resources. Based on the proposed sequence of image conversion, software has been developed for implementation of the algorithm of spatial orientation of a robot. Image processing methods and functions of PCL and ROS metapackage libraries were used. Experimental study of the possibilities of the developed image processing and route construction algorithm was made using the prototype of a mobile robot on a wheeled platform.
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Acknowledgments
This work was done with the financial support of RFBR (contract No. 15-01-04577-a, No. 15-08-04166-a).
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Skakunov, V., Belikov, V., Zhoga, V., Nesmiynov, I. (2016). Processing of Data from the Camera of Structured Light for Algorithms of Image Analysis in Control Systems of Mobile Robots. In: Evgrafov, A. (eds) Advances in Mechanical Engineering. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-319-29579-4_15
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DOI: https://doi.org/10.1007/978-3-319-29579-4_15
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