A5001392519- Robotics and Sensor-Based Localization
- Robotic Path Planning Algorithms
- Robotics and Automated Systems
- Advanced Vision and Imaging
- Teleoperation and Haptic Systems
- Video Coding and Compression Technologies
- Optical measurement and interference techniques
- UAV Applications and Optimization
- Color Science and Applications
- Computer Graphics and Visualization Techniques
- IoT-based Smart Home Systems
- Geographic Information Systems Studies
- Augmented Reality Applications
- Multimedia Communication and Technology
- 3D Surveying and Cultural Heritage
- Historical Geography and Cartography
- Robot Manipulation and Learning
- Face recognition and analysis
- Social Robot Interaction and HRI
- Advanced Data Compression Techniques
- Robotic Locomotion and Control
- Gaze Tracking and Assistive Technology
- Autonomous Vehicle Technology and Safety
- Speech and Audio Processing
- Industrial Automation and Control Systems
Kazan Federal University
2018-2025
National Research University Higher School of Economics
2024
Ritsumeikan University
2022
V. A. Trapeznikov Institute of Control Sciences
2022
BUG algorithms are effective strategies for local path planning in unknown environments. This article presents a practical implementation of the InsertBug algorithm using Robot Operating System (ROS) and highlights its challenges. The relies on laser sensor odometry data to construct locally optimal an terrain. Its evaluation was performed Gazebo 3D virtual environment, employing TurtleBot 3 Burger robot. spanned three types environments: mazes, settings with simple convex concave obstacles,...
Most of robots are using vision for various applications. In some cases, mobile provided with an insufficient onboard processing hardware, and therefore video from cameras needs to be transmitted in efficient reliable way a more powerful system further off-board processing. Multiple difficulties could faced during streaming software development, including high latencies, network congestion, packet losses, distortions others, which makes trade-offs between quality, bitrate, frame rate, loss...
Long time of data encoding with software mechanisms might become a significant problem when transferring digital from cameras mobile robots. At the same time, processor manufacturers claim that an process is significantly accelerated by using hardware encoding. This work dedicated to and video comparison two state-of-the-art codecs, which were selected due their high popularity in computer vision robotics fields - h264 vaapi FFmpeg API libx265 codec. We encoded six sequences different...
Map construction, or mapping, plays an important role in robotic applications.Mapping relies on inherently noisy sensor measurements to construct accurate representation of a surrounding environment.Generally, individual sensors suffer from performance degradation issues under certain conditions the environment.Sensor fusion allows obtain statistically more perception and cope with by combining data multiple different modalities.This article reviews modern methods for map construction...
There is a problem associated with various natural and man-made emergencies. The consequences of which can be colossal destruction in densely populated territories. Therefore, USAR teams, include rescue robots, need to act quickly. However, due the unpredictability situation, rescuers are faced number difficulties expensive equipment suffer. To prevent latter optimize work it necessary conduct testing an environment close reality. For many reasons, this cannot done real life, so there...
Typical tasks of service robotics and special fields, including Urban Search Rescue, set a number challenges for mobile with automatic performance various functions robots being key task. To pursue camera calibration processes using on-body markers in this paper we demonstrated results validation experiments on robot Servosila Engineer fiducial markers, which selected based the virtual marker systems.
This article describes the algorithm of points extraction from picture processed by a canny edge detector that will be turned in curves using cubic spline interpolation. Here presented several examples, including code. Furthermore, this paper describe steps creating system, which depict on sheet taken web-camera. The system enables webcam snapshot, convenient program with graphical user interface, algorithms, whose parameters can changed, TCP server, control, observation drawing process and...
Video streaming mobile robot ROS package
This work presents high level design and preliminary results of the implementation an psycho-emotional system based on DA 5-HT subsystems implementing 4 basic emotions.
Camera calibration is an essential research field with a high potential for emerging algorithms and targets. In this work, we present virtual experiments approach in Gazebo simulator exhaustive camera methods targets evaluation. Key steps of the workflow were adapted to simulation approach. We proposed evaluation pipeline that includes modeling target's pose generation viewing frustum. Experiments demonstrated environment feasibility while comparing checkerboard circle grid targets, allowed...
Robots are widely used in many areas of modern life, and a teleoperated control plays significant role critical mission applications. For such applications Graphical User Interface (GUI) is one the most popular interfaces for robot navigation manipulation manual control. In this article, we present an improved GUI Russian crawler Servosila Engineer, which provides operator with images from four cameras robot, 3D view current configuration ability to every joint robot. addition minor...
Calibration is essential for any robot vision system achieving high accuracy in deriving objects metric information. One of typical requirements a stereo vison order to obtain better calibration results guarantee that both cameras keep the same vertical level. However, may be displaced due severe conditions operating or some other circumstances. This paper presents our experimental approach problem mobile under hardware imperfection. In experiments, we used crawler-type «Servosila Engineer»....
An automated beekeeping is a promising approach to addressing various issues associated with beekeeping.Among primary problems, swarming procedure stands out as major concern.An uncontrolled can lead significant financial losses.During period potential for losing bee swarm high, therefore noise monitoring at this gains importance.Our long term research aims development of an intelligent system beehive conditions, based on hive-generated noises analysis.This paper presents experiment that...
Mobile robots typically operate in a dynamically changing unknown environments.The Bug family algorithms were developed to address path planning challenges for ground vehicles within 2D configuration spaces of environments.These utilize local sensory data about obstacles encountered during navigation.This paper introduces the implementation Bug1 and Bug2 ROS Noetic.Traditional are extended into 3D Gazebo simulation environment.Performance evaluation conducted using TurtleBot3 Burger model...
Camera calibration is one of the important tasks in field robotics and computer vision. It enables to increase accuracy metric measurements photogrammetry applications provides higher performance vision algorithms such as stereo matching motion estimation. known that regardless method used variation given estimated camera parameters their inevitable due multiple reasons: varying weather conditions, temperature fluctuations or severe operation mode a robotic system. In order alleviate...