目标跟踪、接近和相机切换，用于自动仪器放置

2005 IEEE Aerospace Conference Pub Date : 2005-03-05 DOI:10.1109/AERO.2005.1559298

Max Bajracharya, Antonio Diaz-Calderon, Matthew Robinson, Mark Powell maxb

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引用次数: 22

摘要

本文描述了为实现行星漫游者精确的单指令自主仪器放置所需的目标指定、跟踪、接近和相机切换技术。它专注于在接近阶段集成了障碍物的鲁棒跟踪，以及基于图像的相机切换，以允许基于视觉的仪器放置。它还提供了一个完整系统的初步结果，该系统将这些技术与探测车基座放置相结合，以最大限度地提高机械臂的可操作性和基于图像的仪器放置。

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

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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2005 IEEE Aerospace Conference

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