Applications of computer vision in space robotics

Abstract

Automation using intelligent robotics has been recognized as a promising approach to earth-bound applications such as nuclear waste clean up, and factory automation. Successes in these applications, however, have not extended the applications of intelligent robotics to space systems. The advance of VLSI and sensor technologies, as well as maturity of research in computer vision make it feasible to exploit intelligent robots in space environment. This paper gives a list of target applications, discusses vision requirements, points out critical issues, and describes research activities conducted in applications of computer vision in space robotics. Issues addressed in those research activities include lighting, geometric calibration, sensor positioning, knowledge-based spatial reasoning, terrain mapping, vision-guided tele-operation, and real-time vision-guided grasping of free-floating objects, vision system planner, and computer architecture for real-time vision processing, among others. It is intended to encourage researchers in computer vision community to pursue great research opportunities and challenges in space robotics.