Monovision techniques for telerobotsThe primary task of the vision sensor in a telerobotic system is to provide information about the position of the system's effector relative to objects of interest in its environment. The subtasks required to perform the primary task include image segmentation, object recognition, and object location and orientation in some coordinate system. The accomplishment of the vision task requires the appropriate processing tools and the system methodology to effectively apply the tools to the subtasks. This paper describes the functional structure of the telerobotic vision system used in the Langley Research Center's (LaRC) Intelligent Systems Research Laboratory (ISRL) and discusses two monovision techniques for accomplishing the vision subtasks.
Document ID
19870035954
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Goode, Plesent W. (NASA Langley Research Center Hampton, VA, United States)
Cornils, Karin (NASA Langley Research Center Hampton, VA, United States)