Methods for Processing and Understanding Image Sequences in Autonomous Navigation Problems

This article presents the results of research into methods and algorithms for processing image sequences aimed at application in autonomous navigation systems. The methods are grouped in the following areas: pre-processing, generation of 2D and 3D scene models, object recognition. and determination of motion parameters from a sequence of images. The article presents methods and algorithms proposed and researched by the authors of the article over the past decade. Description of the methods and algorithms is accompanied by examples and results of experimental studies.