The role of vision in perching and grasping for MAVs

Justin Thomas, Giuseppe Loianno, Kostas Daniilidis, Vijay Kumar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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.

Original languageEnglish (US)
Title of host publicationMicro- and Nanotechnology Sensors, Systems, and Applications VIII
EditorsThomas George, Achyut K. Dutta, M. Saif Islam
PublisherSPIE
Volume9836
ISBN (Electronic)9781510600775
DOIs
StatePublished - Jan 1 2016
EventMicro- and Nanotechnology Sensors, Systems, and Applications VIII Conference - Baltimore, United States
Duration: Apr 17 2016Apr 21 2016

Other

OtherMicro- and Nanotechnology Sensors, Systems, and Applications VIII Conference
CountryUnited States
CityBaltimore
Period4/17/164/21/16

Fingerprint

Visual Servoing
Micro air vehicle (MAV)
Visual servoing
Grasping
planning
trajectory planning
Trajectory Planning
Grippers
Pose Estimation
Inclined
robots
vehicles
Robot
Camera
Cameras
Vertical
cameras
Trajectories
Robots
Antennas

Keywords

  • Grasping
  • Micro aerial vehicles
  • Perching
  • Visual servoing

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering

Cite this

Thomas, J., Loianno, G., Daniilidis, K., & Kumar, V. (2016). The role of vision in perching and grasping for MAVs. In T. George, A. K. Dutta, & M. S. Islam (Eds.), Micro- and Nanotechnology Sensors, Systems, and Applications VIII (Vol. 9836). [98361S] SPIE. https://doi.org/10.1117/12.2224056

The role of vision in perching and grasping for MAVs. / Thomas, Justin; Loianno, Giuseppe; Daniilidis, Kostas; Kumar, Vijay.

Micro- and Nanotechnology Sensors, Systems, and Applications VIII. ed. / Thomas George; Achyut K. Dutta; M. Saif Islam. Vol. 9836 SPIE, 2016. 98361S.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Thomas, J, Loianno, G, Daniilidis, K & Kumar, V 2016, The role of vision in perching and grasping for MAVs. in T George, AK Dutta & MS Islam (eds), Micro- and Nanotechnology Sensors, Systems, and Applications VIII. vol. 9836, 98361S, SPIE, Micro- and Nanotechnology Sensors, Systems, and Applications VIII Conference, Baltimore, United States, 4/17/16. https://doi.org/10.1117/12.2224056
Thomas J, Loianno G, Daniilidis K, Kumar V. The role of vision in perching and grasping for MAVs. In George T, Dutta AK, Islam MS, editors, Micro- and Nanotechnology Sensors, Systems, and Applications VIII. Vol. 9836. SPIE. 2016. 98361S https://doi.org/10.1117/12.2224056
Thomas, Justin ; Loianno, Giuseppe ; Daniilidis, Kostas ; Kumar, Vijay. / The role of vision in perching and grasping for MAVs. Micro- and Nanotechnology Sensors, Systems, and Applications VIII. editor / Thomas George ; Achyut K. Dutta ; M. Saif Islam. Vol. 9836 SPIE, 2016.
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