E.M. Logachev¹

¹Far Eastern Federal University (Vladivostok, Russia)

¹logachev.em1997@gmail.com

The paper is devoted to the problem of constructing detailed 3D-reconstruction of objects in dynamic scenes when photographing the terrain by underwater autonomous vehicles. An image processing method is being considered that makes it possible to identify dynamic objects and points in a scene, which can be used to position an underwater autonomous vehicle. Identification of points in video stream images and 3D-reconstruction of point data are based on the ideas of the "seed" algorithm.

Goal – increasing the accuracy of 3D-reconstruction of dynamic scenes when performing work by autonomous vehicles in previously unknown conditions. Statistical data characterizing the operation of algorithms for identifying objects and their points have been obtained. Conclusions are drawn about the features of working with small-polygonal and multi-polygonal objects. Approaches to determining the location of an underwater autonomous vehicle by analyzing point data are proposed. The use of image-based positioning systems is relevant in various applications, from unmanned vehicles and robot couriers to autonomous research vehicles. Decisions in this area may affect, for example, the effectiveness of search and rescue or repair work in difficult-to-reach conditions.

Logachev E.M. Point detection during 3D-reconstruction of dynamic scenes in navigation tasks of underwater autonomous vehicles. Information-measuring and Control Systems. 2025. V. 23. № 6. P. 50−60. DOI: https://doi.org/10.18127/j20700814-202506-03 (in Russian)

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