The method of adaptive control of the parameters of the onboard autonomous mobile robot vision system

The method of adaptive control of the parameters of the onboard vision system of an autonomous mobile robot operating on an unknown stage is considered. The parameters of the camera orientation and the focal length of the lens of the vision system are subject to control. The control is carried out in the normal mode of operation of the vision system of the autonomous mobile robot by comparing the test fragment of the image with the reference one. The test and reference image fragments contain constructive elements of the platform of the mobile robot. The reference fragment is obtained by the calibration procedure of the system and stored in the memory of the vision system. If there are discrepancies between the test fragment of the image and the reference image, the type of mismatch is determined, their magnitude is measured, and the necessary adjustments are made to eliminate them. The scheme and results of model experiments of the system for various types of mismatches are given.