Visual registering of arm pose: a space robotics application

Authors:
Aldo Cumani;Sandra Denasi;Antonio Guiducci;Piergiorgio Lanza;Giorgio Quaglia
Affiliations:
Istituto Nazionale di Ricerca Metrologica, Turin, Italy;Istituto Nazionale di Ricerca Metrologica, Turin, Italy;Istituto Nazionale di Ricerca Metrologica, Turin, Italy;Alcatel Alenia Space Italia, Turin, Italy;Istituto Nazionale di Ricerca Metrologica, Turin, Italy
Venue:
SSIP'06 Proceedings of the 6th WSEAS International Conference on Signal, Speech and Image Processing
Year:
2006

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Abstract

This paper deals with the vision algorithms designed for ESA's Eurobot Flight Model, a robotic system planned to assist astronauts on the International Space Station during extra-vehicular activities. The algorithm for registering the robot's pose with respect to the station is presented, together with some preliminary results from laboratory simulations.