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Proceedings Paper

Three-dimensional vision: requirements and applications in a space environment
Author(s): J. Russell Noseworthy; Lester A. Gerhardt
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Paper Abstract

Various approaches to three dimensional vision are reviewed including passive and active techniques. Emphasis is on the redundant 3-D vision system designed for CIRSSE which uses a controllable subset of five cameras programmable structured light patterns and sophisticated calibration routines. The purpose is the design and development of a 3-D vision system which can evaluate the space environment and correlate complete or incomplete object views to CAD-based models. The application stresses real-time operation human supervisory intervention and using 3-D vision to enhance the performance of cooperating robotic arms. Two techniques of estimating the location of a point using 3-D vision are discussed as is a computer simulation study which sought to optimize the positioning of multiple cameras to minimize noise perturbations caused by various forms of vibration. Finally the unique challenges of multiple camera CAD-based 3-D vision in the space environment and criteria for selecting the instantaneous subset of cameras are discussed.

Paper Details

Date Published: 1 February 1991
PDF: 12 pages
Proc. SPIE 1387, Cooperative Intelligent Robotics in Space, (1 February 1991); doi: 10.1117/12.25408
Show Author Affiliations
J. Russell Noseworthy, Rensselaer Polytechnic Institute (United States)
Lester A. Gerhardt, Rensselaer Polytechnic Institute (United States)


Published in SPIE Proceedings Vol. 1387:
Cooperative Intelligent Robotics in Space
Rui J. P. de Figueiredo; William E. Stoney, Editor(s)

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