The Method of Depth Map Calculating Based on Soft Operators in Multi-Agent Robotic Stereo Vision Systems

Authors

  • M. V. Bobyr Department of Computer Science, Southwest State University, Kursk, Russia
  • N. A. Milostnaya Department of Computer Science, Southwest State University, Kursk, Russia
  • S. V. Gorbachev National Research Tomsk State University, Tomsk, Russia
  • S. Bhattacharyya Rajnagar Mahavidyalaya, Birbhum, India
  • J. Cao Southeast University, Nanjing, China and Yonsei University, Seoul, Korea

Keywords:

Mobile Robots, Stereo Vision, Depth Map, Soft Computing, SAD, Fuzzy Logic

Abstract

The fuzzy method of depth map calculating using stereo images obtained on the path of mobile robots (agents) is considered. The method is based on SAD (sum of absolute difference) algorithm composition and fuzzy inference. Its special feature is soft arithmetic operators with fuzzy implication usage. The accuracy of the constructing depth map method is estimated by RMSE (root mean square error). The bestest soft operator has minimum RMSE. The method of depth map calculating which has seven steps is presented. The proposed method has showed that the accuracy of the SAD algorithm increases by 20% when soft operators is used. This conclusion is confirmed by the simulation results presented in the chapter.

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Published

2021-03-30

How to Cite

Bobyr, M. V., Milostnaya, N. A., Gorbachev, S. V., Bhattacharyya, S., & Cao, J. (2021). The Method of Depth Map Calculating Based on Soft Operators in Multi-Agent Robotic Stereo Vision Systems. Research Transcripts in Computer, Electrical and Electronics Engineering, 2, 83–98. Retrieved from https://grinrey.com/journals/index.php/rtceee/article/view/14

Issue

Vol. 2 (2021): Advanced Research in Computer Engineering

Section

Book Chapter

License

Copyright (c) 2021 Grinrey Publications

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