{
  "id": "2003.11509",
  "version": "v1",
  "published": "2020-03-25T17:26:03.000Z",
  "updated": "2020-03-25T17:26:03.000Z",
  "title": "Visual-Inertial Telepresence for Aerial Manipulation",
  "authors": [
    "Jongseok Lee",
    "Ribin Balachandran",
    "Yuri S. Sarkisov",
    "Marco De Stefano",
    "Andre Coelho",
    "Kashmira Shinde",
    "Min Jun Kim",
    "Rudolph Triebel",
    "Konstantin Kondak"
  ],
  "comment": "Accepted to International Conference on Robotics and Automation (ICRA) 2020, IEEE copyright, 8 pages, 10 figures",
  "categories": [
    "cs.RO",
    "cs.CV"
  ],
  "abstract": "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.",
  "revisions": [
    {
      "version": "v1",
      "updated": "2020-03-25T17:26:03.000Z"
    }
  ],
  "analyses": {
    "keywords": [
      "visual-inertial telepresence",
      "virtual reality",
      "enhancing aerial manipulation capabilities",
      "3d visual feedback",
      "achieving advanced aerial manipulation tasks"
    ],
    "tags": [
      "conference paper"
    ],
    "note": {
      "typesetting": "TeX",
      "pages": 8,
      "language": "en",
      "license": "arXiv",
      "status": "editable"
    }
  }
}