Using control and vision for space applications

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we present algorithms that address the real-time robotic visual tracking (eye-in-hand configuration) of satellites that move in 2-D space. To achieve our objective, we combine computer vision techniques, for detection of motion, with simple control strategies. The problem has been formulated from the systems theory point of view. This facilitates the extension of the algorithm to 3-D space. A cross-correlation technique (SSD optical flow) is used for computing the vector of discrete displacements and is combined with an appropriate control scheme to calculate the required motion of the space robotic system. Shared and traded control modes enable the integration of the human operator with the autonomous tracking modules. In this way, the human operator can intervene and correct the tracking motion through a joystick. The performance of the proposed algorithms has been tested on a real system, the CMU DD Arm II, and the results are presented in this paper.

Original languageEnglish (US)
Title of host publicationProceedings - 3rd Annual Conference on Intelligent Robotic Systems for Space Exploration
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages46-60
Number of pages15
ISBN (Electronic)0818625953, 9780818625954
DOIs
StatePublished - 1991
Externally publishedYes
Event3rd Annual Conference on Intelligent Robotic Systems for Space Exploration, IRSSE 1991 - Troy, United States
Duration: Nov 18 1991Nov 19 1991

Publication series

NameProceedings - 3rd Annual Conference on Intelligent Robotic Systems for Space Exploration

Conference

Conference3rd Annual Conference on Intelligent Robotic Systems for Space Exploration, IRSSE 1991
CountryUnited States
CityTroy
Period11/18/9111/19/91

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