METHOD OF the STATIC OBJECTS SPATIAL LOCALIZATION ACCORDING TO DEPTH SENSOR DATA AND RGB CAMERA
The task of the research is to improve the quality of the onboard computer vision system of a mobile robotic platform that provides localization of static obstacles (objects) in a three-dimensional a priori nondeterministic environment by sharing use of onboard depth sensors and an RGB camera. The article deals with the method of the objects spatial localization, known as DARP (Depth-Assisted Rectification of Patches). Estimated is the effectiveness of its application for the objects detection and localization from the onboard depth sensors data with the use of different features detectors. In order to increase the effectiveness of the DARP method application for mobile robotic platforms, it is proposed to introduce a number of SLAM algorithms (Simultaneous Location and Mapping). Thus, it is recommended to use the ORB-method (Oriented FAST and Rotated BRIEF) as a features detector and a features descriptor, and analyze the current situation taking into account the background of its development. As a result, an onboard computer has the ability to real-time estimate the objects size, correct or partially restore distorted or damaged sections of image frames, determine the belonging of ranges data to a particular object located in the CVS platform coverage area. The above theoretical assumptions are tested on the research software developed in the ROS environment on a Linux-compatible operating platform and implementing the proposed approach to solving the problem of detecting and locating objects from depth sensor data. The results of the successful approbation of the developed software complex using the Intel NUC NUC6I5SYH Mini-PC on-board computer and two Intel RealSense 3D Cameras (RGB-D cameras) allow us to receive, process and visualize RGB- and range data coming from the onboard vision system of the mobile robotic platform. A number of experiments performed on the proposed complex have proved that, in comparison with analogues, the developed and software-implemented set of algorithms of the ORB+DARP method, oriented to the use with RGB-D cameras, provides the required improvement of the onboard vision system in solving the detection and spatial localization problem in the objects located on the movement direction of the mobile robotic platform.