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• APPLICATION OF A SURROUND-VIEW CAMERA SYSTEM FOR MOBILE ROBOT MOVEMENT SAFETY

  I.S. Fomin , А. А. Baseltsev

  2026-04-29

  Abstract ▼

  This paper addresses the problem of ensuring the motion safety of a mobile robotic platform in an environment with known object classes, based on object detection results from a surround-view camera system. While solutions based on optical flow or other methods for detecting moving objects in a camera's field of view are well-known, this work proposes to use the results from a dedicated object detector for safety assurance. Here, we propose to utilize object positions, calculated from the output of a neural network detector, for safety purposes. The surround-view camera system (SVS) consists of 4 cameras with wide-angle lenses. Several approaches for feeding objects into the neural network detector are considered. Differences in quality and performance for these approaches are demonstrated, and methodological recommendations for their use are formulated. To calculate object positions in the camera coordinate system and, through camera positions, in the robot's coordinate frame, 2 solutions based on camera calibration and certain assumptions are proposed. In the first case, the robot's position on the surface is assumed to be horizontal, and the camera's height above the surface is assumed constant and known. In the second case, one of the metric dimensions of objects for each class are assumed to be known in advance. The proposed solution has been deployed and tested on a Rockchip 3588-based computing platform, demonstrating high performance in terms of detection count (from 8 to 19 objects per frame on average, depending on settings) and processing speed (0.29 s for 8 objects per frame and about 1.05 s for the result of 19 objects per frame). Regarding the accuracy of distance estimation to objects, for the first method, the standard deviation ranged from 4.2 to 7.9 mm, and for the second method, from 3.8 to 7.6 mm. The standard deviation of object size estimation for the first method ranged from 0.64 to 2.02 mm, and for the second method from 1.63 to 2.22 mm, respectively. The obtained results allow us to confidently state that the proposed object detection algorithm is applicable for ensuring the safety and navigation of a mobile robot using surround-view system cameras

• OBJECT IDENTIFICATION METHOD FOR INTEGRATION WITH ROBOTIC SYSTEMS

  N.М. Chernyshov, I. К. Romanova-Bolshakova

  2025-04-27

  Abstract ▼

  The aim of the research is to develop a methodology for identifying and determining the location of objects
  under conditions of low visibility and potential changes in their shape, with a focus on extracting parts
  created using selective laser sintering (SLS) from a powder medium. The study examines two fundamentally
  different approaches to forming control algorithms for a robotic manipulator. The first approach, trust-based, is
  based on the assumption of minimal displacement of the object during manipulation. The manipulator moves
  along a trajectory calculated from a preliminary three-dimensional model without correction until the moment
  of capture. This method is characterized by high operational speed and minimal computational costs. However,
  it carries risks such as object deformation due to environmental resistance, displacement of the part upon contact
  with the tool, and the inability to capture the object if it deviates significantly from its nominal position.
  The second approach, cautious, involves the gradual removal of powder layers to visualize the object and adjust
  the trajectory before capture. This method includes several stages: removing the top layer of the medium to
  partially expose the part, analyzing data to refine the object's position, and constructing an adaptive trajectory
  considering possible displacement. Special attention in the article is given to data generation for training neural
  networks, which are used for object identification under noisy conditions. Two methods of artificial modeling of
  powder coatings are considered. The primitive method involves expanding the vertices of a three-dimensional
  model along their normals with the addition of random noise. The improved method proposes differentiated
  powder distribution considering local surface curvature. Subsequent experimental results showed that training a
  neural network using real data has low efficiency. Recognition accuracy ranged from 60% to 75%, which is
  attributed to the small sample size and the influence of external factors such as lighting and interference. At the
  same time, the use of synthetic data, prepared according to the methodology presented in the study, increased
  recognition accuracy to 92%. The practical significance of the work lies in the development of a methodology
  for searching, detecting, and identifying a part immersed in powder, which can be used to automate postprocessing
  processes in industries utilizing selective laser sintering. The developed solutions are adapted for
  integration into robotic systems operating under conditions of limited visibility. The proposed methods can be
  scaled to a wide range of tasks in additive manufacturing and robotics, making them promising for implementation
  in industrial processes.