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REAL-TIME OBJECT AND ROBOT END-EFFECTOR TRACKING SYSTEM

Award Information

Agency:
National Aeronautics and Space Administration
Branch:
N/A
Award ID:
16938
Program Year/Program:
1991 / SBIR
Agency Tracking Number:
16938
Solicitation Year:
N/A
Solicitation Topic Code:
N/A
Solicitation Number:
N/A
Small Business Information
Kms Fusion Inc
PO Box 1778 Ann Arbor, MI 48106
View profile »
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
 
Phase 1
Fiscal Year: 1991
Title: REAL-TIME OBJECT AND ROBOT END-EFFECTOR TRACKING SYSTEM
Agency: NASA
Contract: N/A
Award Amount: $49,835.00
 

Abstract:

REAL-TIME, THREE-DIMENSIONAL OBJECT TRACKING IS THE KEY TO SUCCESSFULLY COMPLETING ROBOTIC END-EFFECTOR DOCKING TASKS IN UNCERTAIN AND CHANGEABLE ENVIRONMENTS. SINCE RELIABLE SYSTEMS FOR TRACKING THREE-DIMENSIONAL OBJECTS UNDER REALISTIC CONDITIONS DO NOT YET EXIST, THIS PROJECT PROPOSES TO DESIGN A REAL-TIME OBJECT AND ROBOTIC END-EFFECTOR TRACKING SYSTEM (RORETS). RORETS IS CENTERED ON A RECENTLY DISCOVERED APPROACH TO ESTIMATE THE POSITION AND ORIENTATION (POSE) OF ARBITRARILY SHAPED, PARTIALLY VISIBLE THREE-DIMENSIONAL OBJECTS IN A SINGLE, CLUTTERED, NOISY IMAGE. TO ATTAIN REAL-TIME PERFORMANCE, THE FIRM HAS REFORMULATED THE THEORY BEHIND THE POSE ESTIMATOR AND ADAPTED A NEW REPRESENTATION OF THREE-DIMENSIONAL OBJECTS THAT ALLOWS READY PREDICTION OF THE APPEARANCE OF EDGE CONTOURS FROM ANY VIEWPOINT, WITH APPROPRIATE HARDWARE THESE INNOVATIONS, COUPLED WITH A REAL-TIME IMPLEMENTATION OF A KALMAN FILTER FOR ESTIMATING AN OBJECTS' MOTION PARAMETERS, WILL ALLOW RORETS TO ACHIEVE REAL-TIME TRACKING PERFORMANCE. REAL-TIME, THREE-DIMENSIONAL OBJECT TRACKING IS THE KEY TO SUCCESSFULLY COMPLETING ROBOTIC END-EFFECTOR DOCKING TASKS IN UNCERTAIN AND CHANGEABLE ENVIRONMENTS. SINCE RELIABLE SYSTEMS FOR TRACKING THREE-DIMENSIONAL OBJECTS UNDER REALISTIC CONDITIONS DO NOT YET EXIST, THIS PROJECT PROPOSES TO DESIGN A REAL-TIME OBJECT AND ROBOTIC END-EFFECTOR TRACKING SYSTEM (RORETS). RORETS IS CENTERED ON A RECENTLY DISCOVERED APPROACH TO ESTIMATE THE POSITION AND ORIENTATION (POSE) OF ARBITRARILY SHAPED, PARTIALLY VISIBLE THREE-DIMENSIONAL OBJECTS IN A SINGLE, CLUTTERED, NOISY IMAGE. TO ATTAIN REAL-TIME PERFORMANCE, THE FIRM HAS REFORMULATED THE THEORY BEHIND THE POSE ESTIMATOR AND ADAPTED A NEW REPRESENTATION OF THREE-DIMENSIONAL OBJECTS THAT ALLOWS READY PREDICTION OF THE APPEARANCE OF EDGE CONTOURS FROM ANY VIEWPOINT, WITH APPROPRIATE HARDWARE THESE INNOVATIONS, COUPLED WITH A REAL-TIME IMPLEMENTATION OF A KALMAN FILTER FOR ESTIMATING AN OBJECTS' MOTION PARAMETERS, WILL ALLOW RORETS TO ACHIEVE REAL-TIME TRACKING PERFORMANCE.

Principal Investigator:


0

Business Contact:

Small Business Information at Submission:

Kms Fusion Inc
Po Box 1567 Ann Arbor, MI 48106

EIN/Tax ID:
DUNS: N/A
Number of Employees: N/A
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No