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Real-Time Polyhedra Localization in 3-D Space

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.

Full text not available from this repository.

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/
Document Type:Conference or Workshop Item (Paper)
Additional Information: LIDO-Berichtsjahr=1991,
Title:Real-Time Polyhedra Localization in 3-D Space
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Sanchez, D.UNSPECIFIEDUNSPECIFIED
Hirzinger, G.UNSPECIFIEDUNSPECIFIED
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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