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.


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    Title :

    Target tracking, approach, and camera handoff for automated instrument placement


    Contributors:

    Published in:

    Publication date :

    2005


    Size :

    8 Seiten, 17 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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