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In the operation schemes of optical electronic devices (OED), such as digital autocollimators, direction finders, Shack-Hartmann sensors, as well as astro-orientation systems, projection measuring systems, geometric calibration schemes for OED, the photo-detector acts not only as a receiving device, but also as a measuring device. The tasks facing the OED photo-detectors. The solution to the problem is the use of several photo-detectors installed on one electronic board. Since OED photo-detectors act, inter alia, as measuring devices, it is necessary to perform their geometric calibration. Geometric calibration involves the measurement of interior orientation parameters used in the processing of OED images. Geometric calibration makes it possible to eliminate errors in mutual exposure of photo-detectors on one electronic board installed in the focal plane, as well as distortions introduced by the OED lens, primarily by distortion. The correctness of the interior orientation parameter determination is influenced by the relative position of the collimator, with the help of which the geometric calibration is performed, and the calibrated OED itself, i. e. the external orientation elements. The task is to separate the interior orientation parameters and the elements of external orientation. This is achieved using the method of mathematical processing of measured data in the forward and inverted positions of the collimator. This method of geometric calibration allows to use it for geometric calibration of OED with a large number of photo-detectors. The paper presents the results of the geometric calibration of the interior orientation parameters when the collimator projects a test object onto three photo-detectors of the OED layout. The factors influencing on the accuracy of the geometric calibration of the interior orientation elements for OED are determined in the paper. The developed method for geometric calibration of the interior orientation parameters for multi-matrix OED provides high measurement accuracy – not more than 0.1''–0.2''.

Nowadays the interest in search of ways of improving the efficiency of small radar cross-section aerial objects detection and localization rises against the background of widespread use of light and unmanned aerial vehi-cles. As a result, researchers pay attention to radar systems (RS) with continuous linear frequency modulation (linear FM) signal. The use of such signals gives the measurable opportunity to reduce radar system peak-speech power and to cut the cost and weightsize parameters of the RS. The paper observes low-power ground based radar implementation prospects for purposes of detection and estimation of motion rates of small-sized aerial objects. The proposed algorithm of radar signals processing enables to simplify the detection of such tar-gets. The paper reveals the structure and defines the steps of the algorithm. The fundamental for the algorithm under consideration is the method of the range-Doppler image composition of the scanned area using digital signal processing. The paper presents the results of the algorithm operation in the low-power RS of C-band radar, obtained by processing of quadrotor echo-signals during the real experiment. The results show successful solvation of the applied problem of detection and tracking on the small-sized aerial object with the radar cross-section equal to less than 0.5 m2 and the spectrum of secondary radiation characterized by the expressed multimodality. The results of the experiment validate the application of the algorithm and demonstrate the possibility of the algorithm implementation in design of portable RS and automated target acquisition centers for detecting and tracking of the small-sized aerial targets (both, single as multi agent) with the information display on operator control panel.

The paper presents the review of literature devoted to research of toys. The authors’ focus is on the main function or special characteristics of a toy, that make it a toy. A toy is understood as a specifically playing object which means that it possesses the main characteristic of a play – the discrepancy between real and semantic field, i.e. it possesses conditionality. Conditionality of a play object provokes a person to attribute some meanings to the object i.e. it stimulates him to create imaginary situations. Imagination or creation of an imaginary situation is connected with the inner world, with the personal experience of a player, which a toy can only discover, but not produce. This paper presents research data that show that a toy does not develop a child by itself. For example, it cannot be a source of aggressive behavior or early sexualization, just like it cannot teach kindness and mutual assistance.

The paper presents modern approaches to processing of images obtained with the help of industrial equipment. Usage of pixel modification in small neighborhoods, application of uniform image processing while changing brightness level, possibilities for combination of several images, threshold image processing have been described in the paper. While processing a number of images on a metal structure containing micro-cracks and being under strain difference between two such images have been determined in the paper. The metal structure represents a contour specifying the difference in images. An analysis of the contour makes it possible to determine initial direction of crack propagation in the metal. A threshold binarization value has been determined while processing the image having a field of medium intensity which are disappearing in the process of simple binarization and merging with the background due to rather small drop between the edges. In this regard an algorithm of a balanced threshold histogram clipping has been selected and it is based on the following approach: two different histogram fractions are “weighed” and if one of the fractions “outweighs” then last column of the histogram fraction is removed and the procedure is repeated again. When there is rather high threshold value a contour break (disappearance of informative pixels) may occur, and when there is a low threshold value – a noise (non-informative pixels) may appear. The paper shows implementation of an algorithm for location of contact pads on image of semiconductor crystal. Algorithms for morphological processing of production prototype images have been obtained in the paper and these algorithms permit to detect defects on the surface of semiconductors, to carry out filtration, threshold binarization that presupposes application of an algorithm of a balanced threshold histogram clipping. The developed approaches can be used to highlight contours on the surface images of mechanical engineering products and prepare them as production prototype images in accordance with enterprise documentation. Such approach makes it possible to remove noise on radiographs without introduction of additional distortions in the processed image; highlight defects of welded joints on the images.

The paper considers a task of generating the requirements and creating a calibration target for automated microscopy systems (AMS) of biomedical specimens to provide the invariance of algorithms and software to the hardware configuration. The required number of color fields of the calibration target and their color coordinates are mostly determined by the color correction method, for which coefficients of the equations are estimated during the calibration process. The paper analyses existing color calibration techniques for digital imaging systems using an optical microscope and shows that there is a lack of published results of comparative studies to demonstrate a particular useful color correction method for microscopic images. A comparative study of ten image color correction methods in RGB space using polynomials and combinations of color coordinate of different orders was carried out. The method of conditioned least squares to estimate the coefficients in the color correction equations using captured images of 217 color fields of the calibration target Kodak Q60-E3 was applied. The regularization parameter in this method was chosen experimentally. It was demonstrated that the best color correction quality characteristics are provided by the method that uses a combination of color coordinates of the 3rd order. The study of the influence of the number and the set of color fields included in calibration target on color correction quality for microscopic images was performed. Six train sets containing 30, 35, 40, 50, 60 and 80 color fields, and test set of 47 color fields not included in any of the train sets were formed. It was found out that the train set of 60 color fields minimizes the color correction error values for both operating modes of digital camera: using "default" color settings and with automatic white balance. At the same time it was established that the use of color fields from the widely used now Kodak Q60-E3 target does not allow achieving values of microscopic images color correction errors below the color difference level of visibility for the human eye. The conclusion is that there is a need in development of specialized calibration target for AMS of biomedical specimens.

The paper considers a digital image processing method that provides efficient transmission, redistribution and storage of aerospace environmental monitoring videographic information. The requirement to increase the monitoring efficiency, if necessary, to carry out regular monitoring of changes in the image field of the observed object is especially relevant when describing spatially aligned sets of images obtained after multi-zone, multi-time and multi-polarization shooting. In many remote sensing applications, the processing efficiency reflects the degree of reduction in the volume of transmitted, described, analyzed and stored videographic information. The computational processing of digital images based on the coordinate survey scheme is presented. The method can be used to perform the procedure for decoding images in order to solve the problem of classifying objects of interest, analyzing images. Such characteristics of binary objects as a spatial boundary and a contour were used as deciphering signs. These features make it possible to describe the shape of an object, its geometric parameters and search for images with specific spatial structures. The processing method is realized by executing efficient algorithms for coding an image on a discrete grid by means of a chain code and spectral coding based on the fast discrete Hartley transform. The result of processing comes down to minimizing the number of such basic computational operations as multiplication, addition, transferring, as well as reducing the time and capacitive complexity of the program, and reducing the redundancy of the initial data. An example of an effective representation and description of a segmented image of an object is given. The proposed method makes it possible to expand the technical capabilities of more efficient transmission and processing of images for solving problems in the field of remote sensing.

This paper is devoted to construction of reference walking trajectories for developing pedestrian navigation algorithms for smartphones. Such trajectories can be used both for verification of classical algorithms of navigation or for application of machine learning technics. Reconstruction of closed trajectories based on data from foot-mounted inertial measurement units (IMU) is investigated. The advantages of the approach are the use of inexpensive sensors and the simplicity of the presented method. We propose algorithms for reconstruction of smooth 2D pedestrian trajectories based on measurements from a single IMU as well as on combined measurements from two IMU’s. Introduced algorithms are based on application of modified Kalman filter with an assumption of IMU having zero velocity when foot contacts the ground. In case of two measurement units, it is additionally assumed that the positions of the sensors cannot differ significantly from each other. The algorithms were tested on trajectories lasting from 1 to 10 minutes, passing indoors on horizontal surfaces. Obtained results were compared with high precision trajectories acquired with GNSS RTK receivers. Additionally, the process of inter-device time synchronization is investigated and detailed description of the experiments and used equipment is given. The dataset used for verification of proposed algorithms is freely available at: http://gartseev.ru/projects/rtj2021.

Three-dimensional reconstruction based on the results of video endoscopic examination is a promising area for supporting medical diagnostics and treatment planning for a wide range of pathologies. Nevertheless, the assessment of the results of such reconstruction and verification of the correspondence of the obtained three-dimensional model to the original scene is significantly challenging. As a solution to this problem, the possibility of using a modelling environment to emulate the process of obtaining source video endoscopic data from the generated scene is suggested. The problem of three-dimensional modelling of the esophagus using the Autodesk 3ds Max environment and the Arnold visualization engine is considered. The paper describes the procedural generation of textures for the model and proposes the using Periodic Spatial Generative Adversarial Network models based on convolutional neural networks. To compare the result of reconstruction with a scene, generated using the proposed modelling environment, an optimality criterion is introduced, by which the individual stages of the three-dimensional reconstruction algorithm are compared when the model is optimized using the bundle adjustment method.

Introduction. The problem of automatic license plate recognition is considered. Its solution has many potential applications from safety to traffic control. The work objective was to develop an intelligent recognition system based on the application of deep learning algorithms, such as convolution neural networks that consider automotive standards for license plates in various countries and continents, and are tolerant to camera locations and quality of input images, as well as to changing lighting, weather conditions, and license plate deformations.Materials and Methods. An integrated approach for the problem solution based on the application of convolution neural network composition is proposed. An experimental analysis of neural network models trained to meet the requirements of the universal license plate recognition task was conducted. Based on it, models that showed the best ratio of quality and speed were selected. Quality of the system is provided through the optimization of various models with different modifications. In particular, convolution neural networks were trained using images from several datasets. In addition, to obtain the best results, the models used were pre-trained on a specially generated synthetic dataset.Results. The paper presents numerical experiments, the results of which imply the superiority of the developed algorithm over the commercial OpenALPR package on public datasets. In particular, on the 2017-IWT4S-HDR_LP-dataset, license plate recognition accuracy was 94 percent, and on the Application-Oriented License Plate dataset, 86 percent.Discussion and Conclusions. The resulting algorithm can be used to automatically detect and recognize license plates. The experiments show that the algorithm quality meets or exceeds quality of the commercial OpenALPR package. The developed algorithm quality can be improved through increasing the training dataset, which does not require the participation of the developer.

Актуальность исследования обусловлена назревшей необходимостью разработки модели оценки точности определения пространственного положения объектов, а также отслеживания положения и движения их границ системой технического зрения, которая в составе автоматизированных комплексов может применяться при проведении различных геодезических работ, для маркшейдерского обеспечения подземного строительства, 3D-реконструкции ландшафта поверхности земли, картографировании местности, при выполнении работ в горной промышленности, а также обслуживании крупногабаритных и протяжённых объектов. Особенно актуально применение систем технического зрения, позволяющих осуществлять пространственные измерения, в тех случаях, когда традиционные лазерные средства не обеспечивают высокую эффективность, например, из-за высокой степени рассеивания или наоборот поглощения лазерного излучения поверхностью наблюдаемого объекта или его малыми угловыми размерами. Цель: оценить геометрию измерительного пространства и определить закономерности распределения погрешности измерений в её границах. Постановка задачи: разработка имитационной модели, обеспечивающей с учётом технических данных камер, их взаимных положения и ориентации, а также влияния на измерительный процесс случайных составляющих, возникающих как в процессе сборки системы, так и при её эксплуатации, реконструкция формы и размеров измерительного пространства, а также визуализация распределения погрешностей измерения координат объектов. Методы: метод математического моделирования. Новизна разработанной модели характеризуется тем, что в ней впервые была реализована возможность оценивания распределения ошибок определения координат системой технического зрения по всей глубине её измерительного пространства. При моделировании нет ограничений по взаимному положению камер и обязательной их однотипности. В модели впервые учитываются случайные погрешности, связанные как с определением взаимной ориентации положения камер, так и с неточностями при их изготовлении, а также возможностями применённой методики калибровки системы. Результат. Приведены результаты анализа известных из уровня науки и техники моделей оценки погрешности определения трёхмерных координат объектов системой технического зрения, показаны их недостатки. Раскрыта сущность и основные этапы преобразований при разработке модели оценки погрешностей определения координат объектов и их распределения по измерительному пространству системой технического зрения. Выводы. Модель на основе множества внешних и внутренних параметров камер, а также с учётом ожидаемых случайных погрешностей при сборке и настройке измерительной системы позволяет оценивать погрешность определения координат объектов и геометрию измерительного пространна. Представленная модель позволяет оценивать точность определения пространственных координат объектов, положения и движения их границ при применении систем технического зрения в составе геодезических автоматизированных измерительных комплексов. Кроме этого, применение данной модели даёт возможность оптимизировать процесс формулирования технических требований к видео- или фотокамерам и их взаимному положению в процессе проведения измерений. The relevance of the study is caused by the urgent need to develop a model for assessing the accuracy of determining the spatial position of objects, as well as tracking the position and movement of their boundaries by a computer vision system, which, as part of automated systems, can be used when carrying out various geodetic works, for surveying support of underground construction, 3D reconstruction of the surface landscape land, terrain mapping, when performing work in the mining industry, as well as servicing large and extended objects. It is especially important to use computer vision systems that allow spatial measurements in cases where traditional laser means do not provide high efficiency, for example, due to a high degree of scattering or, conversely, absorption of laser radiation by the surface of the observed object or small angular dimensions. Purpose: assessment of the measurement space geometry and determine the distribution patterns of the measurement accuracy within its boundaries. Problem statement: development of a simulation model that provides reconstruction of the form and dimensions of the measurement space and visualization of the distribution of measurement accuracy of coordinates of objects, taking into account the technical data of the cameras, their relative positions and orientations, as well as the influence on the measuring process of random components arising both during the assembly of the system and during its operation. Methods: mathematical model method. The novelty of the developed model is characterized by the fact that it was the first one to realize the possibility of estimating the distribution of errors in determining coordinates by the technical vision system over the entire depth of its measuring space. When modeling, there are no restrictions on the relative position of the cameras and their obligatory uniformity. For the first time, the model takes into account random errors associated with both the determination of the relative orientation of the position of the cameras, and with inaccuracies in their manufacture, as well as the capabilities of the applied system calibration method. Results. The paper introduces the results of the analysis of models known from the level of science and technology for assessing the accuracy in determining the three-dimensional coordinates of objects by the technical vision system, their disadvantages are shown. The essence and main stages of transformations in the development of the model for assessing the accuracy in determining the coordinates of objects and their distribution over the measuring space by the computer vision system are disclosed. Conclusions. The model based on the set of external and internal parameters of the cameras, as well as taking into account the expected random errors in the assembly and adjustment of the measuring system, makes it possible to estimate the accuracy in determining the coordinates of objects and the geometry of the measuring space. The presented model makes it possible to evaluate the accuracy of determining the spatial coordinates of objects, the position and movement of their boundaries when using computer vision systems as part of geodetic automated measuring systems. In addition, the use of this model makes it possible to optimize the process of formulating technical requirements for video or cameras and their relative position in the course of measurements.

This paper is devoted to the content of the composition on the phalerae from the mound Sadovy and to the related issue about the existence of the ‘tarandrus’ image in the art of Eurasian nomads. L. S. Klein identifies one of the depicted characters with the mythical tarandrus and considers the images on the waistbands from Siberian collection and the collection of the Katandinsky mound (the 5th – 3rd cc. BC) as its prototypes. On the basis of this assumption, L.S. Klein draws conclusion that the movement of Sarmatians to the West took place from the areas of the Irtysh and Ishim rivers. According to the descriptions by the ancient authors, the tarandrus looks like a large hoofed animal from the deer family and has a special power to change its color according to the environment. L.S. Klein’s definition of the tarandrus as a mythical deer with the characteristics of four different animals has been rejected by the written sources. Ancient authors compared the tarandrus to an ox just to underline a big size of this animal. A comparative analysis of stylistic features and the plot’s content show that the studied items had presented different images and scenes. The items which contain the images of animals are important sources for studying the history of nomads. Hence, their wrong interpretation can cause visual and historical mistakes.

The paper aims to systematize modern concepts of body image and body scheme. For the analysis of theoretical models the following criteria were allocated: explication of the mechanism underlying the formation and restructuring of body image, development of certain aspects of body image which are explained by the presented concepts. Separately the issue of the difference between the body scheme and the body image is discussed that seems relevant in connection with the specific features of the neural mechanisms of body image. In the study of the phenomenological level of bodily experience the assumption that the body scheme is fragmented and has no hierarchical structure is considered. Significant differences in viewing basic mechanisms of developing the body image associated with attention to various bodily phenomena are showed. Psychodynamic, cognitive, socio-cultural, feminist and interdisciplinary approaches are analyzed, which permitted to identify mechanisms of integration-differentiation, cognitive generalization and internalization-introjection. The analysis suggests the consideration of the body image in the context of issues on the appropriation of the body. If person is considered as a tool for shaping and maintening integration of mental processes, the patterns of interconnected and interdependent changes in the processes that occur in the construction of the image of the external situation and the body image acquires a special psychological meaning. It becomes necessary to allocate correctly the structure of the integrating object in which the subject is involved during the normal course of life, and in exceptional cases, i.e. in the presence of physical defects, the sudden change of appearance, etc. These development objects determine specific form of body image and its possible distortions.

Although each task of recreating artifacts is truly unique, the modeling process for façades, foundations and building elements can be parametrized. This paper is focused on a complex of the existing programming libraries and solutions that need to be united into a single computer system to solve such a task. An algorithm of generating 3D filling of objects under reconstruction is presented. The solution architecture necessary for the system's adaptation for a cloud environment is studied.

The article touches upon the issue of the edge detection of digital images in robotics and in other fields. Algorithms of the edge detection of the most often met images in static pictures are viewed as the target of research. In this paper, HOG-based characteristics are used to search for images of a human figure. When searching for faces in images, the most popular algorithm called Viola-Jones is used. To identify fingerprints, a correlation comparison and a special point comparison is used. It should be also noted that today the algorithms under discussion are used very often. The review of these algorithms has showed that they are sufficiently effective. The conclusions were drawn on the basis of the obtained results, and the branches of application of these algorithms, which are supported by the examples of processing various images, have been indicated.

This article presents an algorithm for restoring broken pixels, which can appear in graphic files with statistical gaps. The suggested algorithm is based on the method of hierarchical analysis of the decision support theory. The choice of the broken pixel color depends on the nearest neighbors and their next neighbors. Three parameters inherent in each nearest neighbor are analysed. Firstly, it is the number of neighbors, which have the same color as the given nearest neighbor. Secondly, it is a deviation of the given pixel from the average value of its neighbors. Thirdly, it is a difference between the pixels being on the opposite sides of the broken pixel. Based on these three criteria, for each nearest neighbor of the broken pixel, a weight coefficient is defined. A hierarchical two-level tree for making decision is constructed. As a color of the broken pixel, its neighbor color with the maximum weight is chosen.A computer experiment to determine the effectiveness of the proposed method is conducted. The effectiveness of the proposed method was determined by comparing the similarity degree of the broken and restored images to the source image. To compare images Minkowski metric was used. To conduct experiments photographic and artificial images were used. The paper investigates a dependence of the proposed algorithm efficiency on the broken image amount. It was found out that the proposed algorithm has the advantage over the known algorithms for restoring broken pixels near the sharp edges. An image restored by our method has more sharply defined edges as compared to what the smoothing filters provide. The proposed method can be iteratively applied. As the experiments have shown, the first five iterations provide image enhancement.The proposed method together with the algorithms for detecting the broken pixels can be used to design filters of noisy images. The method efficiency enhancement can be achieved in case of taking into account the large number of neighbors in making decision. This method can be also developed using the increased number of criteria when making decisions.

In this paper, we consider methods for hyperspectral image processing, required in systems of image formation, storage, and transmission and aimed at solving problems of data compression and protection. A modification of the digital image compression method based on a hierarchical grid interpolation is proposed. Methods of active (on the basis of digital watermarking) and passive (on the basis of artificial image distortion detection) data protection against unauthorized dissemination are developed and investigated.

In this paper we describe an implementation of a method for blurred pictures restoring. We consider uniform, linear photo-camera shift (movement) while picture is taken. In this case, a picture, formed on a chip of a camera, is not static, but moving along some straight line, and as a result photo is blurred. Blurred picture can be seen as a convolution of two functions – one describes initial picture, another is point-spread (or blurring) function (PSF) [1]–[3]. “Deblurred” picture can be found as a deconvolution of the given picture with known PSF [1], [2]. To do this it is convenient to use Fourier transform and apply the convolution theorem. But it leads to division by 0, and thus the method is unstable. We suggest two heuristics to avoid division by 0 and compare them with the known one.