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Computing Position and Orientation of a Freeflying Polyhedron from 3D

Skofteland, G. and Hirzinger, G. (1991) Computing Position and Orientation of a Freeflying Polyhedron from 3D. In: Proc. IEEE Conf. on Robotics and Automation. IEEE Conf. on Robotics and Automation, Sacramento/USA, 07.-012.04.91.

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A robotic vision system for grasping of a free-flying polyhedron in space is developed using stereo vision and laser range finders. Real time motion estimation and sensor fusion is achieved by using a priori knowledge of the object. A Maximum Likelihood parameter estimator is developed for rotational symmetric polyhedrons, and the 3D transformations for fusing many different sensors into one coordinate frame are given. The minimization is solved using the Sequential Quadratic Programming technique, which has proved to be a robust and efficient method to solve the above problem. Included are simulation results performed on the hardware that will be used in the ROTEX experiment.

Item URL in elib:https://elib.dlr.de/27860/
Document Type:Conference or Workshop Item (Paper)
Additional Information: LIDO-Berichtsjahr=1991,
Title:Computing Position and Orientation of a Freeflying Polyhedron from 3D
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Skofteland, G.Univ. Trondheim, NorwegenUNSPECIFIEDUNSPECIFIED
Journal or Publication Title:Proc. IEEE Conf. on Robotics and Automation
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Event Title:IEEE Conf. on Robotics and Automation, Sacramento/USA, 07.-012.04.91
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:other
HGF - Program Themes:other
DLR - Research area:Space
DLR - Program:no assignment
DLR - Research theme (Project):UNSPECIFIED
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > Institut für Dynamik der Flugsysteme
Deposited By: DLR-Beauftragter, elib
Deposited On:02 Apr 2006
Last Modified:27 Apr 2009 06:47

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