№4 (59), 2021. ROBOTS, MECHATRONICS AND ROBOTIC SYSTEMS

Yu. V. Ilyukhin, A.A. Toporin

Analysis of methods for constructing computer vision subsystems of mobile robots

The results of the development and research of algorithms for constructing a vision subsystem of a mobile robot control system are presented. A comparative analysis of the developed algorithms is carried out in terms of recognition time and quality of object recognition under different illumination and object orientation in space, as well as the quality of the input image.

Keywords: mobile robots, vision system, image processing, OpenCV, Haar classifier.

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