Building a geometric world model from three-dimensional sensor data in a teleoperated space environment

Brian M. Romansky; Lester A. Gerhardt

doi:10.1117/12.179050

22 June 1994 Building a geometric world model from three-dimensional sensor data in a teleoperated space environment

Brian M. Romansky, Lester A. Gerhardt

Proceedings Volume 2233, Sensor Fusion and Aerospace Applications II; (1994) https://doi.org/10.1117/12.179050
Event: SPIE's International Symposium on Optical Engineering and Photonics in Aerospace Sensing, 1994, Orlando, FL, United States

Abstract

This paper describes an interactive tool for applying 3D sensor data to a robotic work environment. The tool provides all of the necessary functions to build an accurate world model of a workspace. It is developed with special consideration for teleoperated or semi-autonomous applications, such as those expected in future space missions. Means are provided for collecting 3D images (depth maps), filtering that data, and performing fine positioning or registration between the observed data and geometric models of objects in the scene. A graphical interface allows a human supervisory operator to identify objects and correct for any errors that occur. The system has been implemented in a semi-autonomous robotics testbed at Rensselaer. Results show that it is capable of working with a wide variety of object types in a time frame that is suitable for human supervisory interaction.

Citation Download Citation

Brian M. Romansky and Lester A. Gerhardt "Building a geometric world model from three-dimensional sensor data in a teleoperated space environment", Proc. SPIE 2233, Sensor Fusion and Aerospace Applications II, (22 June 1994); https://doi.org/10.1117/12.179050

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