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Visual-Inertial Telepresence for Aerial Manipulation

Lee, Jongseok and Radhakrishna Balachandran, Ribin and Sarkisov, Iurii and De Stefano, Marco and Coelho, Andre and Shinde, Kashmira and Kim, MinJun and Triebel, Rudolph and Kondak, Konstantin (2020) Visual-Inertial Telepresence for Aerial Manipulation. In: IEEE International Conference on Robotics and Automation ICRA. 2020 IEEE International Conference on Robotics and Automation, Paris.

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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.

Item URL in elib:https://elib.dlr.de/135094/
Document Type:Conference or Workshop Item (Other)
Title:Visual-Inertial Telepresence for Aerial Manipulation
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Lee, JongseokJongseok.Lee (at) dlr.deUNSPECIFIED
Radhakrishna Balachandran, RibinRibin.Balachandran (at) dlr.deUNSPECIFIED
Sarkisov, IuriiIurii.Sarkisov (at) dlr.deUNSPECIFIED
De Stefano, MarcoMarco.deStefano (at) dlr.deUNSPECIFIED
Coelho, Andreandre.coelho (at) dlr.deUNSPECIFIED
Shinde, KashmiraKashmira.Shinde (at) dlr.deUNSPECIFIED
Kim, MinJunMinJun.Kim (at) dlr.deUNSPECIFIED
Triebel, RudolphRudolph.Triebel (at) dlr.deUNSPECIFIED
Kondak, KonstantinKonstantin.Kondak (at) dlr.deUNSPECIFIED
Date:1 June 2020
Journal or Publication Title:IEEE International Conference on Robotics and Automation ICRA
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Keywords:Virtual Reality, Aerial Manipulation, Unmanned Aerial Vehicles, Object pose estimation
Event Title:2020 IEEE International Conference on Robotics and Automation
Event Location:Paris
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):Vorhaben Intelligente Mobilität (old), R - Vorhaben Intelligente Mobilität (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Lee, Jongseok
Deposited On:21 Jul 2020 09:45
Last Modified:20 Jun 2021 15:53

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