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Proceedings Paper

3D vision upgrade kit for TALON robot
Author(s): Richard Edmondson; Justin Vaden; Brian Hyatt; James Morris; J. Larry Pezzaniti; David B. Chenault; Joe Tchon; Tracy Barnidge; Seth Kaufman; Brad Pettijohn
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Paper Abstract

In this paper, we report on the development of a 3D vision field upgrade kit for TALON robot consisting of a replacement flat panel stereoscopic display, and multiple stereo camera systems. An assessment of the system's use for robotic driving, manipulation, and surveillance operations was conducted. The 3D vision system was integrated onto a TALON IV Robot and Operator Control Unit (OCU) such that stock components could be electrically disconnected and removed, and upgrade components coupled directly to the mounting and electrical connections. A replacement display, replacement mast camera with zoom, auto-focus, and variable convergence, and a replacement gripper camera with fixed focus and zoom comprise the upgrade kit. The stereo mast camera allows for improved driving and situational awareness as well as scene survey. The stereo gripper camera allows for improved manipulation in typical TALON missions.

Paper Details

Date Published: 7 May 2010
PDF: 12 pages
Proc. SPIE 7692, Unmanned Systems Technology XII, 76920J (7 May 2010); doi: 10.1117/12.851916
Show Author Affiliations
Richard Edmondson, Polaris Sensor Technologies, Inc. (United States)
Justin Vaden, Polaris Sensor Technologies, Inc. (United States)
Brian Hyatt, Polaris Sensor Technologies, Inc. (United States)
James Morris, Polaris Sensor Technologies, Inc. (United States)
J. Larry Pezzaniti, Polaris Sensor Technologies, Inc. (United States)
David B. Chenault, Polaris Sensor Technologies, Inc. (United States)
Joe Tchon, Rockwell Collins, Inc. (United States)
Tracy Barnidge, Rockwell Collins, Inc. (United States)
Seth Kaufman, Foster-Miller, Inc. (United States)
Brad Pettijohn, U.S. Army Research Lab. (United States)

Published in SPIE Proceedings Vol. 7692:
Unmanned Systems Technology XII
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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