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Title: Visual end-effector position error compensation for planetary robotics
Authors: Bajracharya, Max
DiCicco, Matthew
Backes, Paul
Nickels, Kevin
Keywords: vision-guided manipulation algorithm
vision-guided manipulation
Issue Date: 29-Jan-2007
Publisher: Wiley InterScience
Citation: Journal of Field Robotics 24(5), 399–420 (2007), DOI: 10.1002/rob.20186
Abstract: This paper describes a vision-guided manipulation algorithm that improves arm endeffector positioning to subpixel accuracy and meets the highly restrictive imaging and computational constraints of a planetary robotic flight system. Analytical, simulationbased, and experimental analyses of the algorithm’s effectiveness and ensitivity to camera and arm model error is presented along with results on several prototype research systems and “ground-in-the-loop” technology experiments on the Mars Exploration Rover (MER) vehicles. A computationally efficient and robust subpixel end-effector fiducial detector that is instrumental to the algorithm’s ability to achieve high accuracy is also described along with its validation results on MER data
Appears in Collections:JPL TRS 1992+

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