Perception Module for Autonomous Mobile Robotics – Perception Module Mk.I

PDF

Authors
  1. MacKay, I.
Corporate Authors
Defence R&D Canada - Suffield, Ralston ALTA (CAN)
Abstract
The Perception Module (PM) is a scientific instrument to explore and demonstrate binocular machine vision. The Perception Module’s purpose is to capture binocular imagery data from an articulated camera pair and transform that information into distance estimates in a retino-centric reference frame. The Perception Module was designed to be cost-effective, light, and robust; suitable for inclusion on military robotics and scientific experiments. The module’s potential application is wide and it could be mounted to many platform types. The Perception Module is a component of the nScorpion Explosive Ordinance Disposal (EOD) / Improvised Explosive Device (IED) robot system. nScorpion ( northern scorpion - paruroctonus boreus ) is an advanced demonstration robot intended to advance EOD/IED robotics state of the art. The project goal is to demonstrate autonomy for current robotics and augment soldiers’ and EOD/IED technicians’ capability. By implementing novel binocular vision mechanisms and algorithms, the Perception Module will demonstrate novel techniques to improve localization and understand vision. This memorandum presents some of the theory, justif cation, design, application, and improvement recommendations.

Il y a un résumé en français ici.

Keywords
robots;autonomous robotics;EOD;IED;selective perception;binocular vision;vergence;stereopsis;disparity;triangulation;COHORT;ALS;AIS program
Report Number
DRDC-SUFFIELD-CR-2012-121 — Contract Report
Date of publication
01 Dec 2007
Number of Pages
68
DSTKIM No
CA044488
CANDIS No
804903
Format(s):
Electronic Document(PDF)

Permanent link

Document 1 of 1

Date modified: