Real-Time Model-Based Vision System For Object Acquisition And Tracking

Brian Wilcox; Donald B. Gennery; Bruce Bon; Todd Litwin

doi:10.1117/12.939994

21 August 1987 Real-Time Model-Based Vision System For Object Acquisition And Tracking

Brian Wilcox, Donald B. Gennery, Bruce Bon, Todd Litwin

Proceedings Volume 0754, Optical and Digital Pattern Recognition; (1987) https://doi.org/10.1117/12.939994
Event: OE LASE'87 and EO Imaging Symposium, 1987, Los Angeles, CA, United States

Abstract

A useful space telerobot for on-orbit assembly, maintenance, and repair tasks must have a sensing and perception subsystem which can provide the locations, orientations, and velocities of all relevant objects in the work environment. This function must be accomplished with sufficient speed and accuracy to permit effective grappling and manipulation. Appropriate symbolic names must be attached to each object for use by higher-level planning algorithms. Sensor data and inferences must be presented to the remote human operator in a way that is both comprehensible in ensuring safe autonomous operation and useful for direct teleoperation. Research at JPL toward these objectives is described.

Citation Download Citation

Brian Wilcox, Donald B. Gennery, Bruce Bon, and Todd Litwin "Real-Time Model-Based Vision System For Object Acquisition And Tracking", Proc. SPIE 0754, Optical and Digital Pattern Recognition, (21 August 1987); https://doi.org/10.1117/12.939994

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