Industrial Automatic Control Systems and Controllers Annotation << Back Building Depth Map Using the Upgraded Canny Filter. Part 1 M.V. Bobyr, A.E. Arkhipov, A.S. Yakushev, Jinde CAO Obtaining information about the surrounding space is a necessary condition for the full functioning of modern robots. A solid part of this information can be obtained by constructing a depth map from images obtained from stereo cameras. However, the existing methods and algorithms are still far from getting a result close to the reference one. The authors consider various aspects that can improve the quality of the obtained depth map. The article is divided into two parts. The article discusses the construction of a modernized Canny filter. The modernization consists in the development of new rules and formulas for determining the belonging of a pixel to the border in the range of the direction of the gradient angle from 0 to 360 degrees. Also, in the modified Canny filter, operations have been added to remove fringe endpoints and merge border breaks. The combination of these operations together provides a more accurate selection of contours in stereo images. The data obtained after processing the stereo image are input information for a fuzzy hierarchical mathematical model for constructing depth maps. Keywords: modernized filter Canny; deletion end points; merge contours; removal of the fringe; the gradient of the image. DOI: 10.25791/asu.4.2021.1271 Pp. 12-20.