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Sanchez, D. and Hirzinger, G. (1991) Real-Time Polyhedra Localization in 3-D Space. In: Proc. Third Int. Conf. on Applications of Transputers 1991, pp. 295-300. IOS Press, Amsterdam, Netherlands. Third Int. Conf. on Applications of Transputers, Glasgow, UK 28.-30.08.1991.
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Abstract
The problem of locating polyhedra in 3-D space is addressed. The representation used for 3-D object description and location in 3-D space (position and orientation) is first presented. Then the problem of locating polyhedra in 3-D space is formulated, and a closed-form analytical solution for the orientation and iterative analytical solution for the position is derived. Preliminary results for determining position and orientation of a floating object in space (DLR FreeFlyer) to be grasped as part of the D2 ROTEX experiment during the next German spacelab mission using a transputer-based robot vision system as presented.
| Item URL in elib: | https://elib.dlr.de/27916/ | ||||||||||||
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| Document Type: | Conference or Workshop Item (Paper) | ||||||||||||
| Additional Information: | LIDO-Berichtsjahr=1991, | ||||||||||||
| Title: | Real-Time Polyhedra Localization in 3-D Space | ||||||||||||
| Authors: |
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| Date: | 1991 | ||||||||||||
| Journal or Publication Title: | Proc. Third Int. Conf. on Applications of Transputers 1991 | ||||||||||||
| Open Access: | No | ||||||||||||
| Gold Open Access: | No | ||||||||||||
| In SCOPUS: | No | ||||||||||||
| In ISI Web of Science: | No | ||||||||||||
| Page Range: | pp. 295-300 | ||||||||||||
| Publisher: | IOS Press, Amsterdam, Netherlands | ||||||||||||
| Status: | Published | ||||||||||||
| Keywords: | Algorithm; ROTEX; Microgravity; Kalman filter; | ||||||||||||
| Event Title: | Third Int. Conf. on Applications of Transputers, Glasgow, UK 28.-30.08.1991 | ||||||||||||
| 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 06:49 |
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