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Please use this identifier to cite or link to this item:
http://hdl.handle.net/2014/40988
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| Title: | Visual end-effector position error compensation for planetary robotics |
| Authors: | Bajracharya, Max
DiCicco, Matthew
Backes, Paul
Nickels, Kevin |
| Keywords: | planetary robotic flight system
rock abrasion tools |
| Issue Date: | May-2007 |
| Publisher: | Wiley Periodicals, Inc. |
| 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 end-effector positioning to subpixel accuracy and meets the highly restrictive imaging and computational constraints of a planetary robotic flight system. Analytical, simulation-based, and experimental analyses of the algorithm's effectiveness and sensitivity 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. |
| URI: | http://hdl.handle.net/2014/40988 |
| Appears in Collections: | JPL TRS 1992+
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