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Low-order-complexity vision-based docking

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4 Author(s)
Minten, B.W. ; Dept. of Comput. Sci. & Eng., Univ. of South Florida, Tampa, FL, USA ; Murphy, R.R. ; Hyams, J. ; Micire, M.

This paper reports on a reactive docking behavior which uses a vision algorithm that grows linearly with the number of image pixels. The docking robot imprints (initializes) on a two-colored docking fiducial upon departing from the dock, then uses region statistics to adapt the color segmentation in changing lighting conditions. The docking behavior was implemented on a marsupial team of robots, where a daughter micro-rover had to reenter the mother robot from an approach zone with a 2 m radius and 140° angular width with a tolerance of ±5 and ±2 cm. Testing during outdoor conditions (noon, dusk) and challenging indoor scenarios (flashing lights) showed that using adaptation and imprinting was more robust than using imprinting atone

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:17 ,  Issue: 6 )