Technical vision system in complex of mobile robot control tasks Kulik, D.Sc. Professor, K. Yu. Dergachov, Ph.D.,Associate Professor, O. Radomskyi, postgraduate National aerospace university named after N. Ye. Zhukovsky “KHAI”
The analysis of current trends in the development of control systems for various moving objects, showed, that the inertial navigation systems are not fully comply the requirements for the control system of such objects in the solution of some special tasks. Creation of control systems, which, along with inertial navigation systems and an array of photodetectors, began with the 70s of the last century, one of the basics is as a sharp increasing of microelectronic technologies and the growth of computing power.
Today, there are a number of automatic and semi-automatic control systems, which are uses methods of obtaining information about the speed and angular object position using a video stream, or information recovered from a stereo three-dimensional model of the observed scene. Developed vision system for use in a mobile robot control loop. The system is based on the method of three-dimensional reconstruction of the observed scene for a series of images of the scene. The system includes a pair of cameras mounted so that their sensitive elements lie in one plane with a certain tolerance, as well as a computing device, task management decisive camcorders, forming an array of information and three-dimensional reconstruction of the observed scene on the picture data obtained.