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
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 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.
BibTeX
@inproceedings{icra2020_visualinertialte,
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},
booktitle = {ICRA 2020},
year = {2020}
}