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Method and System for Providing Autonomous Control of a Platform

  • US 20100234993A1
  • Filed: 06/19/2009
  • Published: 09/16/2010
  • Est. Priority Date: 06/19/2008
  • Status: Active Grant
First Claim
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1. A method for operating an autonomous vehicle that includes a manipulator and one or more sets of cameras on the autonomous vehicle, the method comprising:

  • calibrating the manipulator with the one or more sets of cameras to establish calibration parameters describing a relationship between a location of features of the manipulator in a two-dimensional image acquired by the one or more sets of cameras and a three-dimensional position of the features of the manipulator;

    defining a relationship between a three-dimensional location of a target and a location of the target in a two-dimensional image acquired by the one or more sets of cameras;

    using the calibration parameters and the relationship between the three-dimensional location of the target and the location of the target in the two-dimensional image acquired by the one or more sets of cameras to estimate a location of the target relative to the manipulator;

    creating a trajectory for the autonomous vehicle and the manipulator to follow to position the autonomous vehicle and the manipulator such that the manipulator can engage the target; and

    updating the trajectory as the autonomous vehicle and the manipulator traverse the trajectory.

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