运动视觉残差分析

K. Nickels, M. Bajracharya, A. Trebi-Ollennu, R. Liebersbach
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引用次数: 1

摘要

本文描述了一种工具的设计、验证和集成,该工具可以在火星探测漫游者(MER)车辆上的仪器展开装置(IDD)的前部防险相机图像中定位一部分,并跟踪机械手的预测位置与检测位置之间的差异。对运动学视觉残差的分析,或机械手在机载图像中预期出现的位置与实际出现在图像中的位置之间的差异,可以深入了解操作机器人系统的几个方面。对IDD和相机模型的保真度进行了评估。随着时间的推移,性能的系统变化可以让我们了解漫游车的退化或其他变化。最后,可以根据随时间变化的趋势数据提出新的模型并进行评估。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Kinematic-Vision Residuals Analysis
This paper describes the design, validation, and integration of a tool to locate a portion of the instrument deployment device (IDD) on the Mars exploration rover (MER) vehicles on Mars in imagery from the front hazard avoidance cameras, and to track the differences between the predicted and detected position of the manipulator over time. The analysis of kinematic-vision residuals, or the difference between where a manipulator is expected to appear in onboard imagery and where it actually appears in the imagery, yields insight into several aspects of an operational robotic system. The fidelity of the IDD and camera models is evaluated. Systematic changes in the performance over time can give insight to rover degradation or other changes. Finally, new models can be proposed and evaluated on the basis of trended data over time.
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