Publication

Robotic Systems (RS)
2010

STEREO VISION FOR EXPLOSIVE THREAT DEFEAT: TEST AND RESULTS

by David B. Chenault; J. Larry Pezzaniti; Richard Edmondson; Justin Vaden; Brian Hyatt; James Morris; Andrew Bodenhamer; Seth Kaufman; David Kingston; Scott Newell

Abstract

In this paper, we report on the use of a 3D vision field upgrade kit for the TALON robot consisting of a replacement flat panel stereoscopic display, and multiple stereo camera systems. An assessment of the system's use for robotic driving, manipulation, and surveillance operations was conducted. A replacement display, replacement mast camera with zoom, auto-focus, and variable convergence, and a replacement gripper camera with fixed focus and zoom comprise the upgrade kit. The stereo mast camera allows for improved driving and situational awareness as well as scene survey. The stereo gripper camera allows for improved manipulation in typical TALON missions.