DEVELOPMENT OF A TACTICAL AND VISION INTEGRATED SYSTEM, AND OBJECT IDENTIFICATION TECHNIQUES FOR SPDM APPLICATIONS

Authors
  1. Petriu, E.
  2. Trif, N.
  3. Venne, Y.
  4. Greenspan, M.
Corporate Authors
Canadian Space Agency, Ottawa ONT (CAN);Ottawa Univ, Ottawa ONT (CAN);Defence Research Establishment Ottawa, Ottawa ONT (CAN)
Abstract
The report describes development and application aspects of an experimental robotic tactile sensing system for the active (exploratory)tactile perception of the 3-D object geometric profiles (shapes). Thehardware developments consists of a 16 x 16 tactile probe and an instrumented passive-compliant wrist. The software contributions consists of an interactive graphic display package and a library of basic imageprocessing functions implemented as C-language programs. A 2-D correlation technique was developed to recover at the sub-pixel level the pose position errors occurring during the sequential tactile explorationof the large planar object surfaces.
Report Number
CSA-DSM-CR-91-027 — Contractor Report; Technical Report
Date of publication
15 Mar 1991
Number of Pages
35
DSTKIM No
93-00153
CANDIS No
127392
Format(s):
Hardcopy;Originator's fiche received by DSIS

Permanent link

Document 1 of 1

Date modified: