Planning the trajectory of an object in a confined space using stationary machine vision systems

The article proposes an approach to the formation of the trajectory of the spatial movement of a controlled object in a confined space using stationary vision systems. For its implementation, the following main steps are used in the work: 1. Preprocessing of data generated by the machine vision system. The task includes multicriteria image processing in order to minimize the noise component and determine the boundaries of objects. 2. An automated method for adaptive non-local separation of objects on borders, background and objects. 3. Execution of the task of adaptive nonlocal binarization. 4. Building a mask of stationary and current moving objects. 5. Formation of an equidistant displacement trajectory. 6. Checking the trajectory by moving in adjacent frames. 7. Prediction and remeasurement of the position of objects in the frame based on displacement vectors and correction of the object's movement trajectory. 7. Formation of a control team to move an object in a confined space using stationary vision systems. To test the effectiveness, studies were conducted on a set of test sequences. The studies were carried out on a group of cameras in the visible spectrum (1920x1080, RGB, 8 bits) covering the entire field of view. The adaptability of the application of the proposed approach in solving complex problems is showed.