REAL-TIME OBJECT AND ROBOT END-EFFECTOR TRACKING SYSTEM

Award Information
Agency:
National Aeronautics and Space Administration
Branch
n/a
Amount:
$49,835.00
Award Year:
1991
Program:
SBIR
Phase:
Phase I
Contract:
n/a
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 1567, Ann Arbor, MI, 48106
Hubzone Owned:
N
Socially and Economically Disadvantaged:
N
Woman Owned:
N
Duns:
n/a
Principal Investigator:
() -
Business Contact:
() -
Research Institution:
n/a
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.

* information listed above is at the time of submission.

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