On the Problem of Restoring and Classifying a 3D Object in Creating a Simulator of a Realistic Urban Environment.

Abstract

Since the 20th century, a rapid process of motorization has begun. The main goal of researchers, engineers and technology companies is to increase the safety and optimality of the movement of vehicles, as well as to reduce the environmental damage caused by the automotive industry. The difficulty of managing traffic flows is that cars are driven by a person and their behavior, even in similar situations, is different and difficult to predict. To solve this problem, ground-based unmanned vehicles are increasingly being developed and implemented; however, like any other intelligent system, it is necessary to train different road scenarios. Currently, an engineer is driving an unmanned vehicle for training and thousands of kilometers are being driven for training. Of course, this approach to training unmanned vehicles is very long, and it is impossible to reproduce all the scenarios that can be found in real operations on a real road. Based on this, we offer a simulator of a realistic urban environment which allows you to reduce the training time and allows you to generate all kinds of events. To implement such a simulator, it is necessary to develop a method that would allow recreating a realistic world in one passage with cameras (monocular) installed on board the vehicle. Based on this, the purpose of this work is to develop an intelligent vehicle recognition system using convolutional neural networks, which allows you to create mesh objects for further placement in the simulator. It is important to note that the resulting objects should be optimal in size so as not to overload the system, since a large number of road infrastructure objects are stored there. Also, neural complexity should not be excessive. In this paper, the general concept and classification of convolutional neural networks are given, which allow solving the problem of recognizing 3D objects in images. Based on the analysis, the existing neural network architectures do not solve the problems mentioned above. In this connection, the authors first of all carried out the design of the system according to the methodology of modeling business processes, and also modified and developed the architecture of the neural network, which allows classifying objects with sufficient accuracy, obtaining optimized mesh objects and reducing computational complexity. The methods proposed in this paper are used in a simulator of a realistic urban environment, which reduces the time and computational costs when training unmanned transport systems.