Удовлетворенность сотрудников трудом как фактор повышения эффективности деятельности военного факультета БГУИР

Accurate navigation is a fundamental requirement for robotic systems—marine and terrestrial. For an intelligent autonomous system to interact effectively and safely with its environment, it needs to accurately perceive its surroundings. While traditional dead-reckoning filtering can achieve extremely low drift rates, the localization accuracy decays monotonically with distance traveled. Other approaches (such as external beacons) can help; nonetheless, the typical prerogative is to remain at a safe distance and to avoid engaging with the environment. In this chapter we discuss alternative approaches which utilize onboard sensors so that the robot can estimate the location of sensed objects and use these observations to improve its own navigation as well as its perception of the environment. This approach allows for meaningful interaction and autonomy. Three motivating autonomous underwater vehicle (AUV) applications are outlined herein. The first fuses external range sensing with relative sonar measurements. The second application localizes relative to a prior map so as to revisit a specific feature, while the third builds an accurate model of an underwater structure which is consistent and complete. In particular we demonstrate that each approach can be abstracted to a core problem of incremental estimation within a sparse graph of the AUV’s trajectory and the locations of features of interest which can be updated and optimized in real time on board the AUV.QC 20150326</p

2005. Public security screening for metallic objects with millimetre-wave images

ABSTRACT In this paper we present a system for the automatic detection and tracking of metallic objects concealed on moving people in sequences of millimetre-wave images, which can penetrate clothing, plastics and fabrics. The system employs two distinct stages: detection and tracking. In this paper a single detector, for metallic objects, is presented which utilises a statistical model also developed in this paper. Target tracking is performed using a Particle Filter. Results are presented on real millimetre-wave image test sequences

1.1. The Need for Reliable Tracking Systems

This paper deals with automatic target tracking in video and sonar subsea sequences, an essential capability for automating tasks currently performed by remotely operated vehicles under pilot control. We describe two trackers, one for video sequences, the other for sector scan sonar sequences. No assumptions are made about the images, scene, or motion observed. To illustrate applications, we report results of our systems for 3-D structure reconstruction and panoramic mosaic building from video sequences and describe in some detail our path planning and obstacle avoidance system using sonar sequences. c ○ 2000 Academic Press Key Words: subsea vision; video tracking; sonar tracking