Visual-Inertial Telepresence for Aerial Manipulation

Autor:	Lee, Jongseok, Balachandran, Ribin, Sarkisov, Yuri S., De Stefano, Marco, Coelho, Andre, Shinde, Kashmira, Kim, Min Jun, Triebel, Rudolph, Kondak, Konstantin
Rok vydání:	2020
Předmět:	Computer Science - Robotics Computer Science - Computer Vision and Pattern Recognition
Druh dokumentu:	Working Paper
Popis:	This paper presents a novel telepresence system for enhancing aerial manipulation capabilities. It involves not only a haptic device, but also a virtual reality that provides a 3D visual feedback to a remotely-located teleoperator in real-time. We achieve this by utilizing onboard visual and inertial sensors, an object tracking algorithm and a pre-generated object database. As the virtual reality has to closely match the real remote scene, we propose an extension of a marker tracking algorithm with visual-inertial odometry. Both indoor and outdoor experiments show benefits of our proposed system in achieving advanced aerial manipulation tasks, namely grasping, placing, force exertion and peg-in-hole insertion. Comment: Accepted to International Conference on Robotics and Automation (ICRA) 2020, IEEE copyright, 8 pages, 10 figures
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2003.11509 Zobrazit plný text záznamu View this record from Arxiv