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Performance Evaluation and Software Design for EVA Robotic Assistant Stereo Vision HeadsThe purpose of this project was to aid the EVA Robotic Assistant project by evaluating and designing the necessary interfaces for two stereo vision heads - the TracLabs Biclops pan-tilt-verge head, and the Helpmate Zebra pan-tilt-verge head. The first half of the project consisted of designing the necessary software interface so that the other modules of the EVA Robotic Assistant had proper access to all of the functionalities offered by each of the stereovision heads. This half took most of the project time, due to a lack of ready-made CORBA drivers for either of the heads. Once this was overcome, the evaluation stage of the project began. The second half of the project was to take these interfaces and to evaluate each of the stereo vision heads in terms of usefulness to the project. In the key project areas such as stability and reliability, the Zebra pan-tilt-verge head came out on top. However, the Biclops did have many more advantages over the Zebra, such as: lower power consumption, faster communications, and a simpler, cleaner API. Overall, the Biclops pan-tilt-verge head outperformed the Zebra pan-tilt-verge head.
Document ID
20030064075
Document Type
Other
Authors
DiPaolo, Daniel
(Trinity Univ. San Antonio, TX, United States)
Date Acquired
September 7, 2013
Publication Date
March 1, 2003
Publication Information
Publication: National Aeronautics and Space Administration (NASA)/American Society of Engineering Education (ASEE) Summer Faculty Fellowship Program - 2000
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Funding Number(s)
CONTRACT_GRANT: NAG9-867
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.
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