Abstract
The paper describes the development of an indoor navigation system of an autonomous mobile robot using image processing methods of industrial television. The system analyzes the surrounding space with a simple monocular TV camera. Color beacons placed on objects in the environmental are used as reference points. The developed system is tested under different environmental conditions. The mobile robot navigation accuracy is evaluated for the case of the simultaneous detection of two beacons.
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This paper uses the materials of the report submitted at the 9th Open German–Russian Workshop on Pattern Recognition and Image Understanding that took place on December 1–5, 2014, in Koblenz, Germany (OGRW-9-2014).
Alexander Leonidovich Tyukin. Born 1989. Graduated from the P.G. Demidov Yaroslavl State University in 2011. Graduate student in the Department of Electronic Systems Dynamics of the P.G. Demidov Yaroslavl State University. Scientific interests: radio engineering, digital image processing, industrial television, and computer vision. Author of 29 papers.
Andrew Leonidovich Priorov. Born 1959. Graduated from the P.G. Demidov Yaroslavl State University in 1986. Received doctoral degree in 2011. Associate Professor in the Department of Electronic Systems Dynamics of the P.G. Demidov Yaroslavl State University. Scientific interests: computer vision systems; digital processing of speech signals, images, and video; transmission of multimedia information through communication networks. Author of 170 papers.
Ilya Mikhailovich Lebedev. Born 1989. Graduated from the P.G. Demidov Yaroslavl State University in 2012. Received master’s degree in 2012. Graduate student at the Yaroslavl State University. Scientific interests: computer vision and data storage. Author of 29 papers.
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Tyukin, A.L., Priorov, A.L. & Lebedev, I.M. Research and development of an indoor navigation system based on the digital processing of video images. Pattern Recognit. Image Anal. 26, 221–230 (2016). https://doi.org/10.1134/S1054661816010260
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DOI: https://doi.org/10.1134/S1054661816010260