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Real-time surround view system for mobile robots. / Varlashin, Viktor; Semakova, Anna; Shmakov, Oleg.

Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin’s Readings” - ERZR 2019. ed. / Andrey Ronzhin; Vladislav Shishlakov. Springer Nature, 2020. p. 465-476 (Smart Innovation, Systems and Technologies; Vol. 154).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Research › peer-review

Harvard

Varlashin, V, Semakova, A & Shmakov, O 2020, Real-time surround view system for mobile robots. in A Ronzhin & V Shishlakov (eds), Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin’s Readings” - ERZR 2019. Smart Innovation, Systems and Technologies, vol. 154, Springer Nature, pp. 465-476, 14th International Conference on Electromechanics and Robotics - Zavalishin's Readings, ER(ZR) 2019, Kursk, Russian Federation, 17/04/19. https://doi.org/10.1007/978-981-13-9267-2_38

APA

Varlashin, V., Semakova, A., & Shmakov, O. (2020). Real-time surround view system for mobile robots. In A. Ronzhin, & V. Shishlakov (Eds.), Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin’s Readings” - ERZR 2019 (pp. 465-476). (Smart Innovation, Systems and Technologies; Vol. 154). Springer Nature. https://doi.org/10.1007/978-981-13-9267-2_38

Vancouver

Varlashin V, Semakova A, Shmakov O. Real-time surround view system for mobile robots. In Ronzhin A, Shishlakov V, editors, Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin’s Readings” - ERZR 2019. Springer Nature. 2020. p. 465-476. (Smart Innovation, Systems and Technologies). https://doi.org/10.1007/978-981-13-9267-2_38

Author

Varlashin, Viktor ; Semakova, Anna ; Shmakov, Oleg. / Real-time surround view system for mobile robots. Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin’s Readings” - ERZR 2019. editor / Andrey Ronzhin ; Vladislav Shishlakov. Springer Nature, 2020. pp. 465-476 (Smart Innovation, Systems and Technologies).

BibTeX

@inproceedings{6cd89b4b10da4fd6802cbba736baac20,
title = "Real-time surround view system for mobile robots",
abstract = "The problem of increasing the adequacy of environmental perception by the operator of a mobile robot in the remote control is discussed. A real-time surround view system for mobile robotic systems based on cameras with overlapping fields of view and fisheye lenses is proposed. A prototype of the surround view module is developed. The features of the architecture and software of the surround view system are determined. The algorithms for determining the intrinsic parameters of cameras and distortion correction using new models for describing the distortion of wide-angle and ultra-wide-angle lenses are analyzed. Algorithms for finding the extrinsic parameters of cameras, as well as homography matrices, are implemented via invariant descriptors; static homography matrices are used for stitching images into a panorama. Algorithms of blending the overlapping regions of the frames are analyzed and implemented. The methods of projective geometry and augmented reality are discussed to obtain a third-person view. A variant of the surface for projecting a panorama of a surround view is proposed. The software is implemented using cross-platform game engine Unity. Directions for further research are also represented.",
keywords = "Augmented reality, Computer vision, Image projection, Image stitching, Mobile robot, Surround view system",
author = "Viktor Varlashin and Anna Semakova and Oleg Shmakov",
note = "Publisher Copyright: {\textcopyright} Springer Nature Singapore Pte Ltd 2020.; 14th International Conference on Electromechanics and Robotics - Zavalishin's Readings, ER(ZR) 2019 ; Conference date: 17-04-2019 Through 20-04-2019",
year = "2020",
doi = "10.1007/978-981-13-9267-2_38",
language = "English",
isbn = "9789811392665",
series = "Smart Innovation, Systems and Technologies",
publisher = "Springer Nature",
pages = "465--476",
editor = "Andrey Ronzhin and Vladislav Shishlakov",
booktitle = "Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin{\textquoteright}s Readings” - ERZR 2019",
address = "Germany",

}

RIS

TY - GEN

T1 - Real-time surround view system for mobile robots

AU - Varlashin, Viktor

AU - Semakova, Anna

AU - Shmakov, Oleg

N1 - Publisher Copyright: © Springer Nature Singapore Pte Ltd 2020.

PY - 2020

Y1 - 2020

N2 - The problem of increasing the adequacy of environmental perception by the operator of a mobile robot in the remote control is discussed. A real-time surround view system for mobile robotic systems based on cameras with overlapping fields of view and fisheye lenses is proposed. A prototype of the surround view module is developed. The features of the architecture and software of the surround view system are determined. The algorithms for determining the intrinsic parameters of cameras and distortion correction using new models for describing the distortion of wide-angle and ultra-wide-angle lenses are analyzed. Algorithms for finding the extrinsic parameters of cameras, as well as homography matrices, are implemented via invariant descriptors; static homography matrices are used for stitching images into a panorama. Algorithms of blending the overlapping regions of the frames are analyzed and implemented. The methods of projective geometry and augmented reality are discussed to obtain a third-person view. A variant of the surface for projecting a panorama of a surround view is proposed. The software is implemented using cross-platform game engine Unity. Directions for further research are also represented.

AB - The problem of increasing the adequacy of environmental perception by the operator of a mobile robot in the remote control is discussed. A real-time surround view system for mobile robotic systems based on cameras with overlapping fields of view and fisheye lenses is proposed. A prototype of the surround view module is developed. The features of the architecture and software of the surround view system are determined. The algorithms for determining the intrinsic parameters of cameras and distortion correction using new models for describing the distortion of wide-angle and ultra-wide-angle lenses are analyzed. Algorithms for finding the extrinsic parameters of cameras, as well as homography matrices, are implemented via invariant descriptors; static homography matrices are used for stitching images into a panorama. Algorithms of blending the overlapping regions of the frames are analyzed and implemented. The methods of projective geometry and augmented reality are discussed to obtain a third-person view. A variant of the surface for projecting a panorama of a surround view is proposed. The software is implemented using cross-platform game engine Unity. Directions for further research are also represented.

KW - Augmented reality

KW - Computer vision

KW - Image projection

KW - Image stitching

KW - Mobile robot

KW - Surround view system

UR - http://www.scopus.com/inward/record.url?scp=85072891580&partnerID=8YFLogxK

U2 - 10.1007/978-981-13-9267-2_38

DO - 10.1007/978-981-13-9267-2_38

M3 - Conference contribution

AN - SCOPUS:85072891580

SN - 9789811392665

T3 - Smart Innovation, Systems and Technologies

SP - 465

EP - 476

BT - Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin’s Readings” - ERZR 2019

A2 - Ronzhin, Andrey

A2 - Shishlakov, Vladislav

PB - Springer Nature

T2 - 14th International Conference on Electromechanics and Robotics - Zavalishin's Readings, ER(ZR) 2019

Y2 - 17 April 2019 through 20 April 2019

ER -

ID: 86294877