Abstract
Over the past few years, entire families of new recording devices have emerged that allow three-dimensional object tracking, localization, and surface reconstruction. This has led to an increase in a variety of practical applications. The most typical such application to date is digital three-dimensional models of the environment obtained using a variety of sensor devices such as ultrasonic, laser and infrared rangefinders. The analysis performed showed that the most effective procedure for identifying objects in spatial rangefinder images is the procedure based on the analysis of partial line-by-line histograms of the image. The essence of this method is to calculate the brightness values in each line of the image and count the number of these values in the entire line. This procedure is based, among other things, on the results of visual analysis of images obtained from a spatial rangefinder. This analysis shows that the boundary of an object is usually quite clearly distinguished in the upper part of the object, conventionally “rising” above the horizon. Detecting objects in an image is a difficult task because of the proximity of the color values of the pixels, and there is no specific method that allows to provide an absolute precision in the results of processing of the image sequence. In this paper, proposed to use the method of histogram analysis to detect objects on a sequence of images obtained with the help of spatial rangefinders.
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