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Proceedings Paper

Building a geometric world model from three-dimensional sensor data in a teleoperated space environment
Author(s): Brian M. Romansky; Lester A. Gerhardt
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Paper 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.

Paper Details

Date Published: 22 June 1994
PDF: 12 pages
Proc. SPIE 2233, Sensor Fusion and Aerospace Applications II, (22 June 1994); doi: 10.1117/12.179050
Show Author Affiliations
Brian M. Romansky, Advanced Concepts and Technology (United States)
Lester A. Gerhardt, Rensselaer Polytechnic Institute (United States)

Published in SPIE Proceedings Vol. 2233:
Sensor Fusion and Aerospace Applications II
Nagaraj Nandhakumar, Editor(s)

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