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Investigation of registration algorithms for the automatic tile processing systemThe Robotic Tile Inspection System (RTPS), under development in NASA-KSC, is expected to automate the processes of post-flight re-water-proofing and the process of inspection of the Shuttle heat absorbing tiles. An important task of the robot vision sub-system is to register the 'real-world' coordinates with the coordinates of the robot model of the Shuttle tiles. The model coordinates relate to a tile data-base and pre-flight tile-images. In the registration process, current (post-flight) images are aligned with pre-flight images to detect the rotation and translation displacement required for the coordinate systems rectification. The research activities performed this summer included study and evaluation of the registration algorithm that is currently implemented by the RTPS, as well as, investigation of the utility of other registration algorithms. It has been found that the current algorithm is not robust enough. This algorithm has a success rate of less than 80% and is, therefore, not suitable for complying with the requirements of the RTPS. Modifications to the current algorithm has been developed and tested. These modifications can improve the performance of the registration algorithm in a significant way. However, this improvement is not sufficient to satisfy system requirements. A new algorithm for registration has been developed and tested. This algorithm presented very high degree of robustness with success rate of 96%.
Document ID
19960020730
Acquisition Source
Kennedy Space Center
Document Type
Conference Paper
Authors
Tamir, Dan E.
(Florida Inst. of Tech. Melbourne, FL United States)
Date Acquired
August 17, 2013
Publication Date
November 1, 1995
Publication Information
Publication: The 1995 Research Reports: NASA/ASEE Summer Faculty Fellowship Program
Subject Category
Computer Programming And Software
Accession Number
96N24253
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.
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