High-precision estimation of the spatial orientation of the video camera of the vision system of the mobile robotic complex

Sokolov S.V., Marshakov D.V., Reshetnikova I.V.
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The efficiency of mobile robotic systems (MRS) that monitor the traffic situation, urban infrastructure, consequences of emergency situations, etc., directly depends on the quality of vision systems, which are the most important part of MRS. In turn, the accuracy of image processing in vision systems depends to a great extent on the accuracy of spatial orientation of the video camera placed on the MRS. However, when video cameras are placed on the MRS, the level of errors of their spatial orientation increases sharply, caused by wind and seismic vibrations, movement of the MRS over rough terrain, etc. In this connection, the paper considers a general solution to the problem of stochastic estimation of spatial orientation parameters of video cameras in conditions of both random mast vibrations and arbitrary character of MRS movement. Since the methods of solving this problem on the basis of satellite measurements at high intensity of natural and artificial radio interference (the methods of formation of which are constantly being improved) are not able to provide the required accuracy of the solution, the proposed approach is based on the use of autonomous means of measurement — inertial and non-inertial. But when using them, the problem of building and stochastic estimation of the general model of video camera motion arises, the complexity of which is determined by arbitrary motion of the video camera, random mast oscillations, measurement disturbances, etc. The problem of stochastic estimation of the general model of video camera motion arises. Due to the unsolved nature of this problem, the paper considers the synthesis of both the video camera motion model in the most general case and the stochastic estimation of its state parameters. The developed algorithm for joint estimation of the spatial orientation parameters of the video camera placed on the mast of the MRS is invariant to the nature of motion of the mast, the video camera, and the MRS itself, providing stability and the required accuracy of estimation under the most general assumptions about the nature of interference of the sensitive elements of the autonomous measuring complex used. The results of the numerical experiment allow us to conclude that the proposed approach can be practically applied to solve the problem of the current spatial orientation of MRS and video cameras placed on them using inexpensive autonomous measuring devices.

Keywords: mobile robotic system, vision system, mast, video camera, spatial orientation, nonlinear stochastic estimation
Citation in English: Sokolov S.V., Marshakov D.V., Reshetnikova I.V. High-precision estimation of the spatial orientation of the video camera of the vision system of the mobile robotic complex // Computer Research and Modeling, 2025, vol. 17, no. 1, pp. 93-107
Citation in English: Sokolov S.V., Marshakov D.V., Reshetnikova I.V. High-precision estimation of the spatial orientation of the video camera of the vision system of the mobile robotic complex // Computer Research and Modeling, 2025, vol. 17, no. 1, pp. 93-107
DOI: 10.20537/2076-7633-2025-17-1-93-107
URL: http://crm-en.ics.org.ru/journal/article/3578/
Creative Commons License This work is licensed under a Creative Commons Attribution-NoDerivs 3.0 Unported License.

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