Depth map generation for mobile navigation systems based on objects localization in images

Authors

  • Svitlana G. Antoshchuk Odessa National Polytechnic University, Shevchenko Ave., 1, Odessa, Ukraine, 65044
  • Sergey B. Kondratyev Odessa National Polytechnic University, Shevchenko Ave., 1, Odessa, Ukraine, 65044
  • Galyna Yu. Shcherbakova Odessa National Polytechnic University, Shevchenko Ave., 1, Odessa, Ukraine, 65044
  • Mykola A. Hodovychenko Odessa National Polytechnic University, Shevchenko Ave., 1, Odessa, Ukraine, 65044

DOI:

https://doi.org/10.15276/hait.05.2022.1

Abstract

This paper is aimed to develop a method for a depth map generation based on objects localization in images, obtained through a stereopair. The proposed solution describes the objects by the following informative elements: contours, interest points (points of the greatest curvature of the contour), center of mass of the object. Moreover, to describe the contour of the image, it is proposed to use methods with adjustable detailing, based on the wavelet transform, which has frequency-selective properties. The novelty of this method is the possibility of obtaining an approximate depth map by simplifying the calculation of stereo image difference values, which is traditionally used to generate a depth map. Software was developed based on the proposed solutions. Modeling confirmed the effectiveness of the proposed approach. The proposed method makes it possible to significantly reduce the number of computational operations and, consequently, improve depth map generation performance and recommend the proposed method for mobile navigation systems operating in conditions of limited computing and energy resources. The method provides object detection and spatial positioning, makes it possible to obtain reliable information about the distance to objects for other subsystems that use technical vision in their operation, for example, navigation systems for visually impaired people, robotic devices, etc.

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Author Biographies

Svitlana G. Antoshchuk, Odessa National Polytechnic University, Shevchenko Ave., 1, Odessa, Ukraine, 65044

D.Sc. (Eng), Professor, Head of Computer Systems Institute. Odessa National Polytechnic University, 1, Shevchenko Ave. Odessa, 65044, Ukraine

Scopus Author ID: 8393582500

Sergey B. Kondratyev, Odessa National Polytechnic University, Shevchenko Ave., 1, Odessa, Ukraine, 65044

Senior lecturer of Computer Systems Institute of the Department of Artificial Intelligence and Data Analysis. Odessa National Polytechnic University, 1, Shevchenko Ave. Odessa, 65044, Ukraine

Galyna Yu. Shcherbakova, Odessa National Polytechnic University, Shevchenko Ave., 1, Odessa, Ukraine, 65044

D.Sc. (Eng), Professor, of Computer Systems Institute, Prof. of the Department of Information Systems. Odessa National Polytechnic University, 1, Shevchenko Ave. Odessa, 65044, Ukraine

Scopus Author ID: 27868185600

Mykola A. Hodovychenko, Odessa National Polytechnic University, Shevchenko Ave., 1, Odessa, Ukraine, 65044

Candidate of Engineering Sciences, Associate prof. of Computer Systems Institute of the Department of Artificial Intelligence and Data Analysis of Odessa National Polytechnic University, 1, Shevchenko Avenue. Odessa, 65044, Ukraine

Scopus Author ID: 57188700773

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Published

2021-03-14

How to Cite

Antoshchuk, S. G., Kondratyev, S. B. ., Shcherbakova, G. Y. ., & Hodovychenko, M. A. . (2021). Depth map generation for mobile navigation systems based on objects localization in images. Herald of Advanced Information Technology, 5(1), 11-18. https://doi.org/10.15276/hait.05.2022.1

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