Labeled object identification for the mobile servicing system on the space station

Marwan F. Zakaria; Terence K. S. Ng

doi:10.1117/12.25404

1 March 1991 Labeled object identification for the mobile servicing system on the space station

Marwan F. Zakaria, Terence K. S. Ng

Proceedings Volume 1386, Machine Vision Systems Integration in Industry; (1991) https://doi.org/10.1117/12.25404
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

The Canadian contribution to the International Space Station Freedom is the Mobile Servicing System (MSS) which will consist of numerous robotic elements that will support the assembly maintenance and servicing of the Space Station. An important function of the MSS'' vision system is object identification. Some preliminary research has been carried out to identify objects using 2D and 3D shape features and an alternative to these complex approaches is suggested by utilizing Optical Character Recognition (OCR) and/or Bar Code Technology (BCT) in labelled object recognition. This object identification scheme will assist the MSS in performing a wide variety of tasks such as automatic payload capturing berthing world map construction and collision avoidance. The essential need for fiducial marking of various parts of the MSS as well as payloads is established for the purpose of reliable object identification and verification. The approach is considered feasible because the Space Station environment will be highly structured with suitable markings (such as bar codes) to facilitate the recognition of various parts and end effector tools. The identification and verification of payloads however will come prior to the execution of an automated operational scenarios. A system based on the recognition of a symbology label consisting of OCR BCT and four circular targets was recommended and the design of the symbology label is discussed.

Citation Download Citation

Marwan F. Zakaria and Terence K. S. Ng "Labeled object identification for the mobile servicing system on the space station", Proc. SPIE 1386, Machine Vision Systems Integration in Industry, (1 March 1991); https://doi.org/10.1117/12.25404

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