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arXiv:2003.11509 [cs.RO]AbstractReferencesReviewsResources

Visual-Inertial Telepresence for Aerial Manipulation

Jongseok Lee, Ribin Balachandran, Yuri S. Sarkisov, Marco De Stefano, Andre Coelho, Kashmira Shinde, Min Jun Kim, Rudolph Triebel, Konstantin Kondak

Published 2020-03-25Version 1

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.

Comments: Accepted to International Conference on Robotics and Automation (ICRA) 2020, IEEE copyright, 8 pages, 10 figures
Categories: cs.RO, cs.CV
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