The Sensing and Perception Systems Group develops, advances, and deploys measurement science for spatial measurement and real-time, sensor-based control of intelligent systems used in manufacturing and construction applications. Carries out mission-related measurement science research and services to advance intelligent sensing and perception for automation and robotics at all scales; visual and tactile measurement; multi-sensor integration and sensory-data processing; world modeling and object recognition; 3D visualization tools; and active and purposive vision and sensing.
Next-Generation Robotics and Automation Program—The objective of the Next-Generation Robotics and Automation Program is to develop and deploy advances in measurement science to safely increase the versatility, autonomy, and rapid re-tasking of …
Micro- and Nano-Manipulation for Manufacturing Applications—Manipulation at the micro and nano levels requires different strategies than at the macro scale and also the development of related sensing and actuation strategies to be able to control the …
Researchers developed a procedure using a dynamic, six-degree-of-freedom (6DOF) laser tracker to evaluate the performance of a real-time visual servoing implementation for on-the-fly assembly. The objective of the study was to establish a general method for evaluating real-time 6DOF dimensional measurements of moving objects. The evaluation procedure collects data simultaneously from the laser tracker and the visual servoing system under test so the two data streams can be compared. Laser trackers produce highly accurate position and orientation data at a high data rate and can therefore be considered to provide ground truth. Statistical comparisons were made on a number of scenarios to determine the performance of the visual servoing system.