The relevance of the study is due to the growing need for high-resolution images in fields such as agriculture, architecture, transportation, environmental monitoring, etc. A promising method for generating high-resolution images is based on keypoint matching and contour analysis using a low-resolution reference image, which reduces hardware requirements. At the same time, the use of a group of mobile objects allows you to reduce the time required to obtain images of dynamic scenes, which significantly expands the possibilities of using this method. In this approach, each object receives one or more parts of the final image, which are then "stitched" together. However, mobile objects often have limited computational resources, which significantly reduces the applicability of this approach. Therefore, this article focuses on developing algorithms for the joint processing of information by a group of mobile objects using the aforementioned method. The paper presents the results of a study of the effectiveness of these algorithms, both in a sequential mode on a single mobile object, and in a distributed mode with the cooperation of a group of objects. The experimental studies also included a test of the stability of the parallel implementation of the method to various types of distortion: noise, blur, and geometric deformations. The results showed that the parallel implementation of the method of forming a high-resolution image based on the alignment of fragments by key points and the analysis of contours using a reference low-resolution image provides high-quality high-resolution images, resistance to distortion, and a significant reduction in processing time in a group mode. The article's materials are of practical value for developers of real-time collaborative mapping systems, inspection of long or complex objects using groups of robots, as well as in photogrammetry and 3D terrain modeling tasks.
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Kozlovskiy Alexander Vyacheslavоvich
Scopus | ORCID | eLibrary |
Institute of Computer Technologies and Information Security of the Southern Federal University
Taganrog, Russian Federation
