An algorithm for the visual perception of laser range data for a space-based robot

An algorithm is formulated for the calculation of surface shape and structure from laser range data. This algorithm has been developed with the intent of using it to assist in the closed-loop control of the grasping operation performed by the Extravehicular Activity Retriever (EVAR). In order to perform the grasping operation, a robot such as the EVAR must have knowledge of the structure of the surface of the object to be grasped. Using such information, the robot can plan the reach of its manipulator to the object and preshape its hand so as to accommodate the object and ensure a stable grasp. The algorithm calculates information about the surface structure and is based on concepts from differential geometry, namely, the Gaussian and mean curvatures of a surface