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Color-based Vision Tracking for an Astronaut EVA Assist Vehicle
Technical Paper
2001-01-2135
ISSN: 0148-7191, e-ISSN: 2688-3627
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English
Abstract
Scenarios for a manned mission to Mars call for astronaut extravehicular activity teams to be accompanied by semi-autonomous rovers. These rovers must be able to safely follow the astronauts over a variety of terrain with minimal assistance. We propose a color-based visual tracking system as a high-speed robust sensory approach for astronaut following and present a quantitative analysis of its accuracy over a spectrum of astronaut motion profiles.
To evaluate performance, we provide astronaut motion profiles to a simulator and record actual and perceived target location. We characterize tracking accuracy as a function of rover-astronaut separation distance and astronaut speed and heading. Future plans include closed-loop control of the rover based on visual feedback, rover motion simulation, and target re-acquisition algorithms.
Authors
Citation
Lennon, J. and Atkins, E., "Color-based Vision Tracking for an Astronaut EVA Assist Vehicle," SAE Technical Paper 2001-01-2135, 2001, https://doi.org/10.4271/2001-01-2135.Also In
References
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