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Proceedings Paper

Asynchronous modulation/demodulation technique for robust identification of a target for 3D pose determination
Author(s): Regina K. Ferrell; William Bruce Jatko; David Sitter
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Paper Abstract

Engineers at Oak Ridge National Laboratory have been investigating the feasibility of computer-controlled docking in resupply missions, sponsored by the U.S. Army. The goal of this program is to autonomously dock an articulating robotic boom with a special receiving port. A video camera mounted on the boom provides video images of the docking prot to an image processing computer that calculates the position and orientation (pose) of the target relative to the camera. The control system can then move the boom into docking position. This paper describes a method of uniquely identifying and segmenting the receiving port from its background in a sequence of video images. An array of light- emitting diodes was installed to mark the vertices of the port. The markers have a fixed geometric pattern and are modulated at a fixed frequency. An asynchronous demodulation technique to segment flashing markers from an image of the port was developed and tested under laboratory conditions. The technique acquires a sequence of images and digitally processes them in the time domain to suppress all image features except the flashing markers. Pixels that vary at frequencies within the filter bandwidth are passed unattenuated, while variations outside the passband are suppressed. The image coordinates of the segmented markers are computed and then used to calculate the pose of the receiving port. The technique has been robust and reliable in a laboratory demonstration of autodocking.

Paper Details

Date Published: 14 June 1996
PDF: 6 pages
Proc. SPIE 2755, Signal Processing, Sensor Fusion, and Target Recognition V, (14 June 1996); doi: 10.1117/12.243189
Show Author Affiliations
Regina K. Ferrell, Oak Ridge National Lab. (United States)
William Bruce Jatko, Oak Ridge National Lab. (United States)
David Sitter, Oak Ridge National Lab. (United States)


Published in SPIE Proceedings Vol. 2755:
Signal Processing, Sensor Fusion, and Target Recognition V
Ivan Kadar; Vibeke Libby, Editor(s)

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