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This paper offers a real-time approach for simultaneously determining spacecraft motion and multiple 3D planar surfaces for spacecraft safe landing. The approach contains three algorithms: a multiple homography alignment algorithm, which constructs homographies under unified epipolar geometry; a closed-form motion estimation algorithm; and a simple routine for surface slope estimation. This approach...
This paper proposes a reliable solution to the problem of estimating the motion of a rigid object moving freely in 3D space, through the use of a passive vision system. The feature-based tracking technique builds upon the selection of a consistent set of features and their tracking on a frame-by-frame basis. A thorough investigation is conducted to determine a proper vision system setup, which results...
Deep Green is a robotic pool system whose objective is to play the game of pool competitively against skillful human opponents. To enhance the playing accuracy of the system, a visual servoing algorithm using a wrist-mounted camera was developed to correct the absolute positioning error of the robot. The novel technique considers an ideal line defined by the intersection of the object and cue ball...
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