REAL-TIME OBJECT AND ROBOT END-EFFECTOR TRACKING SYSTEM

Award Information
Agency: National Aeronautics and Space Administration
Branch: N/A
Contract: N/A
Agency Tracking Number: 16938
Amount: $49,835.00
Phase: Phase I
Program: SBIR
Awards Year: 1991
Solicitation Year: N/A
Solicitation Topic Code: N/A
Solicitation Number: N/A
Small Business Information
Po Box 1567, Ann Arbor, MI, 48106
DUNS: N/A
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 () -
Business Contact
Phone: () -
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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