Interactive scene analysis module: a sensor-database fusion system for telerobotic environments

Eric G. Cooper; Sixto L. Vazquez; Plesent W. Goode

doi:10.1117/12.56770

1 March 1992 Interactive scene analysis module: a sensor-database fusion system for telerobotic environments

Eric G. Cooper, Sixto L. Vazquez, Plesent W. Goode

Proceedings Volume 1612, Cooperative Intelligent Robotics in Space II; (1992) https://doi.org/10.1117/12.56770
Event: Robotics '91, 1991, Boston, MA, United States

Abstract

Accomplishing a task with telerobotics typically involves a combination of operator control/supervision and a `script' of preprogrammed commands. These commands usually assume that the location of various objects in the task space conform to some internal representation (database) of that task space. The ability to quickly and accurately verify the task environment against the internal database would improve the robustness of these preprogrammed commands. In addition, the on-line initialization and maintenance of a task space database is difficult for operators using Cartesian coordinates alone. This paper describes the interactive scene analysis module (ISAM) developed to provide task space database initialization and verification utilizing 3-D graphic overlay modeling, video imaging, and laser radar based range imaging. Through the fusion of task space database information and image sensor data, a verifiable task space model is generated providing location and orientation data for objects in a task space. This paper also describes applications of the ISAM in the Intelligent Systems Research Laboratory (ISRL) at NASA Langley Research Center, and discusses its performance relative to representation accuracy and operator interface efficiency.

Citation Download Citation

Eric G. Cooper, Sixto L. Vazquez, and Plesent W. Goode "Interactive scene analysis module: a sensor-database fusion system for telerobotic environments", Proc. SPIE 1612, Cooperative Intelligent Robotics in Space II, (1 March 1992); https://doi.org/10.1117/12.56770

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available