This paper describes the target designation, tracking, approach, and camera handoff technologies required to achieve accurate, single-command autonomous instrument placement for a planetary rover. It focuses on robust tracking integrated with obstacle avoidance during the approach phase, and image-based camera handoff to allow vision-based instrument placement. It also provides initial results from a complete system combining these technologies with rover base placement to maximize arm manipulability and image-based instrument placement.
Target tracking, approach, and camera handoff for automated instrument placement
IEEE Aerospace Conference, 2005 ; 52-59
2005
8 Seiten, 17 Quellen
Conference paper
English
Target Tracking, Approach, and Camera Handoff for Automated Instrument Placement
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