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On pose determination using point featuresConsideration is given to the vision subsystem of an Orbital Replacement Unit (ORU) that was placed onto its base at Goddard Space Flight Center by a PUMA 762 robot equipped with a wrist-mounted CCD camera and a wrist-mounted force sensor. It is found that a simple adaptive thresholding method works quite well for images taken under various lighting conditions. The pose computed using the quadrangle method is reasonable for real images. In the presence of image feature noise the accuracy of the computed pose can be considerably reduced. This problem can be solved by using a 3D marker and an alternative pose computation algorithm.
Document ID
19930043024
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Hwang, Vincent
(NASA Goddard Space Flight Center Greenbelt, MD, United States)
Keizer, Richard
(Mitre Corp. McLean, VA, United States)
Winkert, Tom
(NASA Goddard Space Flight Center Greenbelt, MD, United States)
Spidaliere, Peter
(NASA Goddard Space Flight Center Greenbelt, MD, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1992
Publication Information
Publication: In: Cooperative intelligent robotics in space II; Proceedings of the Meeting, Boston, MA, Nov. 12-14, 1991 (A93-27001 09-54)
Publisher: Society of Photo-Optical Instrumentation Engineers
Subject Category
Cybernetics
Accession Number
93A27021
Distribution Limits
Public
Copyright
Other

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