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Abstract : |
Future space programs will take advantage of advanced robotics; visual capabilities, in particular, could play a very important role, either to provide robots with independent behaviors and to improve human remote control. The paper describes a prototype of a binocular vision system based on space variant sensing technologies. The system is aimed to operate autonomously implementing a set of basic behaviors such as the ability to track floating objects and to change the focus of attention in relation to visual information coming from the periphery of the visual field. These capabilities could be helpful to support outer space operations as well as autonomous remote teleoperations. Particular attention has been devoted to the description of the system architecture, the technological sensing peculiarities and the image processing algorithms implemented so far. 1 Vision for Robotic Outer Space Operations Many applications, like services in hazardous areas, space operations or harsh environments exploration would benefit of robotic support. For instance, the inspection of some outer part of a spacecraft or a satellite (may be an antenna dish). clearly involves sensorial capabilities (recognition, hand-eye coordination, tactile, |
