Title :
Position estimation from outdoor visual landmarks for teleoperation of lunar rovers
Author :
Cozman, Fabio ; Krotkov, Eric
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
The paper presents a new application of computer vision to space robotics: a teleoperation interface which analyzes images sent by a mobile robot in space missions and produces position estimates based an the images. The estimates are displayed to the robot operator as additional information to prevent loss of orientation. The current version of the interface detects mountain formations in images and automatically searches for mountain peaks in a given topographic map. A new algorithm for position estimation uses a statistical description of the various disturbances and signals in the measurement process to produce estimates. The authors have tested the system with real images obtained in the Pittsburgh East and Dromedary Peak USGS quadrangles; they report significant improvements in speed and accuracy compared to previous systems
Keywords :
aerospace control; mobile robots; path planning; position control; robot vision; telerobotics; Pittsburgh East and Dromedary Peak USGS quadrangles; algorithm; automatic mountain peak searching; computer vision; disturbances; image analysis; lunar rovers; measurement process; mountain formation detection; orientation; outdoor visual landmarks; position estimation; robot operator; signals; space missions; space robotics; statistical description; teleoperation interface; topographic map; Application software; Computer vision; Image analysis; Mobile robots; Orbital robotics; Position measurement; Robot vision systems; Robotics and automation; Signal processing; Space missions;
Conference_Titel :
Applications of Computer Vision, 1996. WACV '96., Proceedings 3rd IEEE Workshop on
Conference_Location :
Sarasota, FL
Print_ISBN :
0-8186-7620-5
DOI :
10.1109/ACV.1996.572046
