SELECTION AND JUSTIFICATION OF THE LOCATION OF CAMERAS OF THE ALLROUND VISION SYSTEM ON AN UNMANNED DUMP TRUCK

Abstract

The choice of equipment installation location on the sides of an unmanned vehicle, and especially such a dump truck, is a difficult task, which is solved, as a rule, intuitively and by the method of fullscale modeling. The authors of the article have solved the formulated problem, on substantiation of the choice of places of sensorics arrangement on the dump truck, using the developed specialized software application. The Carla simulator was chosen as a tool for carrying out the research as it has wide possibilities of visualization of the surrounding world. At the initial stage of selecting the location of the camera arrangement, the requirements for their viewing angles and the quality of the image obtained from them were formulated. This required the development of a software application in the Python language using the Open3D library, the choice of which is justified by the fact that the Carla simulator provides access to its API through a library for this language, and also because it allows rapid prototyping of applications. The developed software application helps the user to select the location of the video cameras on the dump truck in order to experience the unmanned control system. Further research is aimed at automating the selection of camera locations on board an unmanned dump truck.