Отрывок: Fig. 2. Algorithm for forming a multispectral image 3. Development of the functional organization of a multispectral optoelectronic device for an autonomous mobile platform The functional organization of a multispectral optoe- lectronic device for an autonomous mobile platform is shown in fig. 3. The device contains a group of individual modules that perform operations according to the devel- oped algorithms. All modules, with the exception of mul- tispectral optoelectronic se...
Название : | Multispectral optoelectronic device for controlling an autonomous mobile platform |
Авторы/Редакторы : | Titov, V.S. Spevakov, A.G. Primenko, D.V. |
Ключевые слова : | multispectral sensor control device autonomous mobile platform image recognition |
Дата публикации : | Июн-2021 |
Издательство : | Самарский национальный исследовательский университет имени акад. С.П. Королева |
Библиографическое описание : | Titov VS, Spevakov AG, Primenko DV. Multispectral optoelectronic device for controlling an autonomous mobile platform. Computer Optics 2021; 45(3): 399-404. DOI: 10.18287/2412-6179-CO-848. |
Серия/номер : | 45;3 |
Аннотация : | The paper substantiates the use of multispectral optoelectronic sensors intended to solve the problem of improving the positioning accuracy of autonomous mobile platforms. A mathematical model of the developed device operation has been suggested in the paper. Its distinctive feature is the cooperative processing of signals obtained from sensors operating in ultraviolet, visible, and infrared ranges and lidar. It reduces the computational complexity of detecting dynamic and stationary objects within the field of view of the device by processing data on the diffuse reflectivity of materials. The paper presents the functional organization of a multispectral optoelectronic device that makes it possible to detect and classify working scene objects with less time spending as compared to analogs. In the course of experimental research, the validity of the mathematical model was evaluated and there were obtained empirical data by means of the proposed hardware and software test stand. The accuracy evaluation of the detected object, at a distance of up to 100m inclusive, is within 0.95. At a distance of more than 100 m, it decreases. This is due to the operating range of a lidar. Error in determining spatial coordinates is of exponential character and it also increases sharply at a distance close to 100 m. |
URI (Унифицированный идентификатор ресурса) : | https://dx.doi.org/10.18287/2412-6179-CO-848 http://repo.ssau.ru/handle/Zhurnal-Komputernaya-optika/Multispectral-optoelectronic-device-for-controlling-an-autonomous-mobile-platform-89752 |
Другие идентификаторы : | Dspace\SGAU\20210620\89752 |
Располагается в коллекциях: | Журнал "Компьютерная оптика" |
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450312.pdf | Основная статья | 1.3 MB | Adobe PDF | Просмотреть/Открыть |
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