X.3 Air and Space mission elements (1982 – 1997)

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Aircraft landing by monocular vision in HIL-simulation 1982 to 1987

·        BVV2 vision system with a few microprocessors Intel 80x86; attention control to predicted regions of interest.

·        Vector graphics generating edge pictures of runway and horizon line in correct 3-D perspective projection;

·        no inertial sensors, not allowing winds and gusts as unpredictable perturbations.

 

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Aircraft landing with binocular vision and inertial sensors in HIL- simulation 1987 to 1992

·        Rotation rates from inertial sensors reduce time delays in perception;

·        vision-based perception of runway and horizon;

·        lateral ego-state from symmetry of runway image.

·        Look-ahead ranges (bi-focal) up to ~ 100 m.

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Flight experiments with bi-propeller Do-128 of University of Brunswick 1991

Only the autonomous visual / inertial perception part was tested. A pilot controlled the aircraft for safety reasons till shortly before touch down; then a go-around maneuver followed. The machine vision system also generated control outputs that was compared to the pilot control output after the mission.

(for details see [Schell 1992]).

video 12 AircraftLandingApproach 1982– 92

 

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Helicopter mission performance in HIL- simulation 1992 till 1997

·        Transputer system with binocular, gaze controlled vision system

·        Mission around simulated Brunswick airport with Computer Generated Image-sequences.

A.6 Helicopters with sense of vision

video 24 HelicopterMissionBsHIL-Sim 1997

 

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click on image opens high quality picture

Planar (2-D) visually guided docking by air jet propulsion in a laboratory setup; the best combination of 4 corner features was to be automatically selected for the approach and docking procedure.

A.2 Satellite model plant

H.2.2 Air cushion vehicle

video 05

SatelliteModelPlant VisualDocking 1987

 

 

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Robot Technology Experiment of DLR-Oberpfaffenhofen in Spacelab D2 onboard Space Shuttle Orbiter ‘Columbia’, May 1993

Remote automatic visual control of grasping a small ‘free-flyer’ with two robot fingers; all computers for data processing were on the ground, resulting in ~ 6 seconds time delay between measurement and action on board.

A.7 Vision - guided grasping in Space

video 15 ROTEX- GraspingInSpace 1993