Artificial Object Images Synthesis in Underwater Robot Vision System

the article discusses the features of the synthesis of images of artificial objects with the aim of their search and recognition in the vision system of an underwater robot. The results of research and development to given: a database - a classifier of features that allows you to store information about the reference underwater objects; software module for generating images of reference objects and their insertion in a sonar image file. In the modeling program for the synthesis of underwater objects in the HBO image, the algorithms for introducing objects used by taking into account the peculiarities of the formation of HBO images by sonar. The program allows implementing several objects of spherical, cylindrical and cubic shapes with specified parameters, which allows simulating the situation of search for an artificial object according to given geometric features against the background of other objects. The developed software allows simulating underwater objects according to the characteristics close to real objects with the help of their preliminary processing and subsequent implementation in real HBO images