Управление шестиосевым роботизированным манипулятором с использованием автоматической 3D-локализации целевых объектов на основе стереоскопического зрения

Авторы и правообладатели:

• Капустин В. В. , Томский государственный университет систем управления и радиоэлектроники (Томск, Россия)
• Саира , Томский государственный университет систем управления и радиоэлектроники (Томск, Россия)
• Тисленко А. А. , Томский государственный университет систем управления и радиоэлектроники (Томск, Россия)

• 1. He Y. Advances in sensing and processing methods for three-dimensional robot vision / Y. He, S. Chen // International Journal of Advanced Robotic Systems. – 2018. – Vol. 15, No. 2. – P. 1–19.
• 2. Intelligent robotic systems in Industry 4.0: A review / M. Soori, R. Dastres, B. Arezoo, F.K. Jough // Journal of Advanced Manufacturing Science and Technology. – 2024. – Vol. 4, No. 3. – P. 1–20.
• 3. Rayhan A. Artificial intelligence in robotics: From automation to autonomous systems // IEEE Transactions on Robotics. – 2023. – Vol. 39, No. 7. – P. 2241–2253.
• 4. Panasiuk J. Controlling an Industrial Robot Using Stereo 3D Vision Systems with AI Elements // Sensors. – 2025. – Vol. 25, No. 20. – P. 1–32.
• 5. Li Z., Li S., Luo X. An overview of calibration technology of industrial robots // IEEE/CAA Journal of Automatica Sinica. – 2021. – Vol. 8, No. 1. – P. 23–36.
• 6. Error analysis of a stereo-vision-based tube measurement system / H. Huang, J. Liu, S. Liu, P. Jin, T. Wu, T. Zhang // Measurement. – 2020. – Vol. 157. – P. 1–17.
• 7. Modeling the measurement accuracy for binocular stereo vision system / H. Zhao, W. Ma, P. Ji, G. Zhang, B. Shi, Z. Zhang, W. Yin, S. Yang // Optics Express. – 2025. – Vol. 33, No. 9. – P. 19051–19066.
• 8. Belhaoua A. Error evaluation in a stereovision-based 3D reconstruction system / A. Belhaoua, S. Kohler, E. Hirsch // EURASIP Journal on Image and Video Processing. – 2010. – Vol. 2010, No. 1. – P. 1–12.
• 9. Bier A. Error analysis of stereo calibration and reconstruction / A. Bier, L. Luchowski // International Conference on Computer Vision/Computer Graphics Collaboration Techniques and Applications. – Berlin: Springer, 2009. – P. 230–241.
• 10. Latency analysis of ROS 2 multi-node systems / T. Kronauer, J. Pohlmann, M. Matthé, T. Smejkal, G. Fettweis // arXiv preprint. – 2021. – arXiv:2101.02074.
• 11. Open Robotics. ROS 2 documentation [Electronic resource]. – URL: https://docs.ros.org/en/rolling/index.html (дата обращения: 03.11.2025).
• 12. An adaptable robotic system for assembling irregular earphone parts on factory automation / G. Zhang, C. Li, X. Zhang, G. Liu, Y. Liu, J. Zhao, S. Xu // IEEE International Conference on Robotics and Biomimetics (ROBIO). – IEEE, 2019. – P. 52–58.
• 13. Tassa Y. Synthesis and stabilization of complex behaviors through online trajectory optimization / Y. Tassa, T. Erez, E. Todorov // IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). – IEEE, 2012. – P. 4906–4913.
• 14. Stereolabs. ZED 2 camera documentation [Электронный ресурс]. – URL: https://www.stereolabs.com/docs/ (дата обращения: 15.12.2025).
• 15. Valverde M. A survey of deep learning-based 3D object detection methods for autonomous driving across different sensor modalities / M.Valverde, A. Moutinho, J.V. Zacchi // Sensors. – 2025. – Vol. 25, No. 17. – P. 1–40.
• 16. Advances and prospects of vision-based 3D shape measurement methods / G. Zhang, S. Yang, P. Hu, H. Deng // Machines. – 2022. – Vol. 10, No. 2. – P. 1–24.
• 17. A comprehensive review of vision-based 3D reconstruction methods / L. Zhou, G. Wu, Y. Zuo, X. Chen, H. Hu // Sensors. – 2024. – Vol. 24, No. 7. – P. 1–36.
• 18. You Only Look Once: Unified, Real-Time Object Detection / J. Redmon, S. Divvala, R. Girshick, A. Farhadi // Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR). – Las Vegas, NV, USA: IEEE, 2016. – P. 779–788.