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Proceedings Paper

Real-Time Model-Based Vision System For Object Acquisition And Tracking
Author(s): Brian Wilcox; Donald B. Gennery; Bruce Bon; Todd Litwin
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Paper 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.

Paper Details

Date Published: 21 August 1987
PDF: 8 pages
Proc. SPIE 0754, Optical and Digital Pattern Recognition, (21 August 1987); doi: 10.1117/12.939994
Show Author Affiliations
Brian Wilcox, California Institute of Technology (United States)
Donald B. Gennery, California Institute of Technology (United States)
Bruce Bon, California Institute of Technology (United States)
Todd Litwin, California Institute of Technology (United States)


Published in SPIE Proceedings Vol. 0754:
Optical and Digital Pattern Recognition
Hua-Kuang Liu; Paul S. Schenker, Editor(s)

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