TY - GEN
T1 - Visual-Inertial Telepresence for Aerial Manipulation
AU - Lee, Jongseok
AU - Balachandran, Ribin
AU - Sarkisov, Yuri S.
AU - De Stefano, Marco
AU - Coelho, Andre
AU - Shinde, Kashmira
AU - Kim, Min Jun
AU - Triebel, Rudolph
AU - Kondak, Konstantin
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/5
Y1 - 2020/5
N2 - 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 pregenerated 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.
AB - 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 pregenerated 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.
UR - http://www.scopus.com/inward/record.url?scp=85092691120&partnerID=8YFLogxK
U2 - 10.1109/ICRA40945.2020.9197394
DO - 10.1109/ICRA40945.2020.9197394
M3 - Conference contribution
AN - SCOPUS:85092691120
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1222
EP - 1229
BT - 2020 IEEE International Conference on Robotics and Automation, ICRA 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE International Conference on Robotics and Automation, ICRA 2020
Y2 - 31 May 2020 through 31 August 2020
ER -