The Method for Generating a Set of Reference Images for Assessing the Condition of Critical Infrastructure Facilities Using Mobile Robots

The purpose of this work is to improve the accuracy of critical infrastructure condition assessment using mobile robots by considering the geometric distortions of the current images during the formation of a set of reference images. The goal is achieved by determining the sampling step values by angles and sighting height without loss of accuracy. The most important result is the determination of acceptable discretization values in the range of angles and heights of a correlation-extreme navigation system. The significance of the obtained results is in solving the problem of forming a set of reference images, which will reduce the impact of changes in the geometry of sighting on the accuracy of the evaluation of objects. A special feature of the results obtained is the establishment of maximum permissible sampling steps in angles and heights of sight to ensure the required accuracy of object state estimation. When forming a set of reference images, the sampling step by height should be (0.06....0.11)% and (0.12....0.2)% relative to the initial flight altitude for the sighting surface with normal and high object saturation, respectively. The angular sampling step is 10...17 degrees and 6...10 degrees, respectively, for the same surface types. The difference from known works is that the perspective and scale distortions are considered at the stage of formation of a set of reference images, which ensures high accuracy of the system functioning in conditions of orientation and sighting geometry changes.