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.
@article{arxiv.2003.11509,
title = {Visual-Inertial Telepresence for Aerial Manipulation},
author = {Jongseok Lee and Ribin Balachandran and Yuri S. Sarkisov and Marco De Stefano and Andre Coelho and Kashmira Shinde and Min Jun Kim and Rudolph Triebel and Konstantin Kondak},
journal= {arXiv preprint arXiv:2003.11509},
year = {2020}
}
Comments
Accepted to International Conference on Robotics and Automation (ICRA) 2020, IEEE copyright, 8 pages, 10 figures