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Title: Target tracking, approach, and camera handoff for automated instrument placement
Authors: Bajracharya, Max
Diaz-Calderon, Antonio
Robinson, Matthew
Powell, Mark
Keywords: rover navigations
target tracking
instrument placement
Issue Date: 5-Mar-2005
Publisher: Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2005.
Citation: IEEE Aerospace Conference, Big Sky, Montana, March 5-12, 2005.
Abstract: 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 imagebased instrument placement.
Appears in Collections:JPL TRS 1992+

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