Three-dimensional vision: requirements and applications in a space environment

J. Russell Noseworthy; Lester A. Gerhardt

doi:10.1117/12.25408

1 February 1991 Three-dimensional vision: requirements and applications in a space environment

J. Russell Noseworthy, Lester A. Gerhardt

Proceedings Volume 1387, Cooperative Intelligent Robotics in Space; (1991) https://doi.org/10.1117/12.25408
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

Various approaches to three dimensional vision are reviewed including passive and active techniques. Emphasis is on the redundant 3-D vision system designed for CIRSSE which uses a controllable subset of five cameras programmable structured light patterns and sophisticated calibration routines. The purpose is the design and development of a 3-D vision system which can evaluate the space environment and correlate complete or incomplete object views to CAD-based models. The application stresses real-time operation human supervisory intervention and using 3-D vision to enhance the performance of cooperating robotic arms. Two techniques of estimating the location of a point using 3-D vision are discussed as is a computer simulation study which sought to optimize the positioning of multiple cameras to minimize noise perturbations caused by various forms of vibration. Finally the unique challenges of multiple camera CAD-based 3-D vision in the space environment and criteria for selecting the instantaneous subset of cameras are discussed.

Citation Download Citation

J. Russell Noseworthy and Lester A. Gerhardt "Three-dimensional vision: requirements and applications in a space environment", Proc. SPIE 1387, Cooperative Intelligent Robotics in Space, (1 February 1991); https://doi.org/10.1117/12.25408

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