Detection, location and grasping objects using a stereo sensor on UAV in outdoor environments
| Autor: | Begoña C. Arrue, Anibal Ollero, Pablo Ramon Soria |
|---|---|
| Přispěvatelé: | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática, Universidad de Sevilla. TEP151: Robótica, Visión y Control |
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Computer science Machine vision UAV ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION grasping 02 engineering and technology lcsh:Chemical technology Biochemistry Article Analytical Chemistry 020901 industrial engineering & automation 0202 electrical engineering electronic engineering information engineering Computer vision lcsh:TP1-1185 Electrical and Electronic Engineering Manipulator Instrumentation Stereo cameras business.industry Payload outdoors Object (computer science) Atomic and Molecular Physics and Optics Feature (computer vision) 020201 artificial intelligence & image processing Artificial intelligence business Robotic arm Stereo camera |
| Zdroj: | idUS. Depósito de Investigación de la Universidad de Sevilla instname Sensors; Volume 17; Issue 1; Pages: 103 Sensors, Vol 17, Iss 1, p 103 (2017) Sensors (Basel, Switzerland) Sensors |
| Popis: | The article presents a vision system for the autonomous grasping of objects with Unmanned Aerial Vehicles (UAVs) in real time. Giving UAVs the capability to manipulate objects vastly extends their applications, as they are capable of accessing places that are difficult to reach or even unreachable for human beings. This work is focused on the grasping of known objects based on feature models. The system runs in an on-board computer on a UAV equipped with a stereo camera and a robotic arm. The algorithm learns a feature-based model in an offline stage, then it is used online for detection of the targeted object and estimation of its position. This feature-based model was proved to be robust to both occlusions and the presence of outliers. The use of stereo cameras improves the learning stage, providing 3D information and helping to filter features in the online stage. An experimental system was derived using a rotary-wing UAV and a small manipulator for final proof of concept. The robotic arm is designed with three degrees of freedom and is lightweight due to payload limitations of the UAV. The system has been validated with different objects, both indoors and outdoors. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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