izmertechИзмерительная техникаIzmeritel`naya Tekhnika0368-10252949-5237ФГУП "ВНИИФТРИ"izmertech-1034Research ArticleОПТИКО-ФИЗИЧЕСКИЕ ИЗМЕРЕНИЯOPTICOPHYSICAL MEASUREMENTSАлгоритм одновременной локализации и картографии на основе анализа видеосигналаПрозоровА. В.alexprozoroff@gmail.comПриоровА. Л.noemail@neicon.ruТюкинА. Л.noemail@neicon.ruЛебедевИ. М.noemail@neicon.ruЯрославский государственный университет им. П. Г. ДемидоваRussian Federation2016070220230104548Copyright © ФГУП "ВНИИФТРИ", 20232023ФГУП "ВНИИФТРИ"ФГУП "ВНИИФТРИ"https://www.izmt.ru/jour/about/submissions#copyrightNoticehttps://www.izmt.ru/jour/article/view/1034

Рассмотрены вопросы реализации комплекса алгоритмов одновременной локализации и картографии в системе прикладного телевидения. Приведено описание вероятностной модели задачи на примере алгоритма FastSLAM. Рассмотрены возможности использования сигма-точечного фильтра Калмана для оценки движения пространственных ориентиров, которые представляют ключевые особенности изображений и характеризуются устойчивым детектированием и распознаванием в пределах видеопотока. Представлена общая модель движения камеры и метод оценки её положения в пространстве с помощью фильтра частиц.

This paper discusses the implementation of simultaneous localization and mapping algorithms in industrial television system. A description of a probabilistic model of the SLAM task is presented based on the FastSLAM algorithm. The article also discusses the possibility of using the unscented Kalman filter to estimate the movement of spatial landmarks. These points are the key features of the camera images that can be consistently detected and recognized within the video stream. The work contains a general model of camera movement and the method of assessing the pose in a space using a particle filter.

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The authors declare that there are no conflicts of interest present.