{"title":"面向月球车遥操作的室外视觉地标位置估计","authors":"Fabio Gagliardi Cozman, E. Krotkov","doi":"10.1109/ACV.1996.572046","DOIUrl":null,"url":null,"abstract":"The paper presents a new application of computer vision to space robotics: a teleoperation interface which analyzes images sent by a mobile robot in space missions and produces position estimates based an the images. The estimates are displayed to the robot operator as additional information to prevent loss of orientation. The current version of the interface detects mountain formations in images and automatically searches for mountain peaks in a given topographic map. A new algorithm for position estimation uses a statistical description of the various disturbances and signals in the measurement process to produce estimates. The authors have tested the system with real images obtained in the Pittsburgh East and Dromedary Peak USGS quadrangles; they report significant improvements in speed and accuracy compared to previous systems.","PeriodicalId":222106,"journal":{"name":"Proceedings Third IEEE Workshop on Applications of Computer Vision. WACV'96","volume":"50 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1996-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"38","resultStr":"{\"title\":\"Position estimation from outdoor visual landmarks for teleoperation of lunar rovers\",\"authors\":\"Fabio Gagliardi Cozman, E. Krotkov\",\"doi\":\"10.1109/ACV.1996.572046\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The paper presents a new application of computer vision to space robotics: a teleoperation interface which analyzes images sent by a mobile robot in space missions and produces position estimates based an the images. The estimates are displayed to the robot operator as additional information to prevent loss of orientation. The current version of the interface detects mountain formations in images and automatically searches for mountain peaks in a given topographic map. A new algorithm for position estimation uses a statistical description of the various disturbances and signals in the measurement process to produce estimates. The authors have tested the system with real images obtained in the Pittsburgh East and Dromedary Peak USGS quadrangles; they report significant improvements in speed and accuracy compared to previous systems.\",\"PeriodicalId\":222106,\"journal\":{\"name\":\"Proceedings Third IEEE Workshop on Applications of Computer Vision. WACV'96\",\"volume\":\"50 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1996-12-02\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"38\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings Third IEEE Workshop on Applications of Computer Vision. WACV'96\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ACV.1996.572046\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings Third IEEE Workshop on Applications of Computer Vision. WACV'96","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ACV.1996.572046","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Position estimation from outdoor visual landmarks for teleoperation of lunar rovers
The paper presents a new application of computer vision to space robotics: a teleoperation interface which analyzes images sent by a mobile robot in space missions and produces position estimates based an the images. The estimates are displayed to the robot operator as additional information to prevent loss of orientation. The current version of the interface detects mountain formations in images and automatically searches for mountain peaks in a given topographic map. A new algorithm for position estimation uses a statistical description of the various disturbances and signals in the measurement process to produce estimates. The authors have tested the system with real images obtained in the Pittsburgh East and Dromedary Peak USGS quadrangles; they report significant improvements in speed and accuracy compared to previous systems.
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