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Proceedings Article

The role of vision in perching and grasping for MAVs

[+] Author Affiliations
Justin Thomas, Giuseppe Loianno, Kostas Daniilidis, Vijay Kumar

Univ. of Pennsylvania (United States)

Proc. SPIE 9836, Micro- and Nanotechnology Sensors, Systems, and Applications VIII, 98361S (May 25, 2016); doi:10.1117/12.2224056
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From Conference Volume 9836

  • Micro- and Nanotechnology Sensors, Systems, and Applications VIII
  • Thomas George; Achyut K. Dutta; M. Saif Islam
  • Baltimore, Maryland, United States | April 17, 2016

abstract

In this work, we provide an overview of vision-based control for perching and grasping for Micro Aerial Vehicles. We investigate perching on at, inclined, or vertical surfaces as well as visual servoing techniques for quadrotors to enable autonomous perching by hanging from cylindrical structures using only a monocular camera and an appropriate gripper. The challenges of visual servoing are discussed, and we focus on the problems of relative pose estimation, control, and trajectory planning for maneuvering a robot with respect to an object of interest. Finally, we discuss future challenges to achieve fully autonomous perching and grasping in more realistic scenarios. © (2016) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Citation

Justin Thomas ; Giuseppe Loianno ; Kostas Daniilidis and Vijay Kumar
" The role of vision in perching and grasping for MAVs ", Proc. SPIE 9836, Micro- and Nanotechnology Sensors, Systems, and Applications VIII, 98361S (May 25, 2016); doi:10.1117/12.2224056; http://dx.doi.org/10.1117/12.2224056


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