Publication Date:
2019-07-13
Description:
Many pieces of existing and proposed space hardware that would be targets of interest for a telerobot can be represented as planar or near-planar surfaces. Examples include the biostack modules on the Long Duration Exposure Facility, the panels on Solar Max, large diameter struts, and refueling receptacles. Robust and temporally efficient methods for locating such objects with sufficient accuracy are therefore worth developing. Two techniques that derive the orientation and location of an object from its monocular image are discussed and the results of experiments performed to determine translational and rotational accuracy are presented. Both the quadrangle projection and elastic matching techniques extract three-space information using a minimum of four identifiable target points and the principles of the perspective transformation. The selected points must describe a convex polygon whose geometric characteristics are prespecified in a data base. The rotational and translational accuracy of both techniques was tested at various ranges. This experiment is representative of the sensing requirements involved in a typical telerobot target acquisition task. Both techniques determined target location to an accuracy sufficient for consistent and efficient acquisition by the telerobot.
Keywords:
CYBERNETICS
Type:
NASA-TM-101868
,
NAS 1.15:101868
,
1987 Conference on Space Applications of Artificial Intelligence (AI) and Robotics; May 13, 1987 - May 14, 1987; Greenbelt, MD; United States
Format:
application/pdf
Permalink
