LOCALISATION AND DESCRIPTION OF THE MOVEMENTS OF A ROBOTIC ARM FOR SPACE APPLICATIONS BY ACTIVE CONTOUR TECHNIQUES ON IMAGE SEQUENCE.

摘要

We describe an artificial high-level vision agent for the localisation and description of the movements of the SPIDER robot arm of the EUROPA/PAT systems during its operations. Active contour techniques are applied for symbolic and graphic interpretation of the movements processing data coming from a video camera that acquires the image sequences. The vision agent, which includes a description agent, generates the perception grounded predicates obtained by image sequences and it provides a 3D estimation of the arm movements, thus allowing the scientist user of the SPIDER to receive meaningful feedback of his operations on the arm during a scientific experiment.