Real-Time Polyhedra Localization in 3-D Space

Abstract

The problem of locating polyhedra in 3-D space is addressed. The representation used for 3-D object description and location in 3-D space (position and orientation) is first presented. Then the problem of locating polyhedra in 3-D space is formulated, and a closed-form analytical solution for the orientation and iterative analytical solution for the position is derived. Preliminary results for determining position and orientation of a floating object in space (DLR FreeFlyer) to be grasped as part of the D2 ROTEX experiment during the next German spacelab mission using a transputer-based robot vision system as presented.