Low-order-complexity vision-based docking

  title={Low-order-complexity vision-based docking},
  author={Brian W. Minten and Robin R. Murphy and Jeff Hyams and Mark Micire},
  journal={IEEE Trans. Robotics and Automation},
This article reports on a reactive docking behavior which uses a vision algorithm that grows linearly with the number of image pixels. The docking robot imprints (initializes) on a twocolored docking ducial upon departing from the dock, then uses region statistics to adapt the color segmentation in changing lighting conditions. The docking behavior was implemented on a marsupial team of robots, where a daughter micro-rover had to re-enter the mother robot from an approach zone with a 2 meter… CONTINUE READING
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