Low-order-complexity vision-based docking Academic Article uri icon


  • This paper reports on a reactive docking behavior which uses a vision algorithm that grows linearly with the number of image pixels. The docking robot imprints (initializes) on a two-colored docking fiducial upon departing from the dock, then uses region statistics to adapt the color segmentation in changing lighting conditions. The docking behavior was implemented on a marsupial team of robots, where a daughter micro-rover had to reenter the mother robot from an approach zone with a 2-m radius and 140° angular width with a tolerance of ±5° and ±2 cm. Testing during outdoor conditions (noon, dusk) and challenging indoor scenarios (flashing lights) showed that using adaptation and imprinting was more robust than using imprinting alone.

author list (cited authors)

  • Minten, B. W., Murphy, R. R., Hyams, J., & Micire, M.

citation count

  • 38

publication date

  • January 2001