论文标题
空中操纵的视觉惯性触觉
Visual-Inertial Telepresence for Aerial Manipulation
论文作者
论文摘要
本文介绍了一种新型的触觉系统，用于增强空中操纵功能。它不仅涉及一种触觉设备，而且还涉及虚拟现实，该虚拟现实可实时地为远程定位的遥控器提供3D视觉反馈。我们通过利用板载视觉和惯性传感器，跟踪算法和预生成的对象数据库来实现这一目标。由于虚拟现实必须与真实的远程场景紧密匹配，因此我们提出了用视觉惯性探测器跟踪标记算法的扩展。室内和室外实验都显示了我们所提出的系统在完成先进的空中操纵任务方面的好处，即抓住，放置，力量劳累和孔插入。
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.
