Ponencia
UAV human teleoperation using event-based and frame-based cameras
Autor/es | Rodríguez Gómez, Juan Pablo
Tapia López, Raúl Eguiluz, Augusto Gómez Martínez de Dios, José Ramiro Ollero Baturone, Aníbal |
Departamento | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Fecha de publicación | 2021 |
Fecha de depósito | 2022-11-11 |
Publicado en |
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ISBN/ISSN | 978-166543389-1 |
Resumen | Teleoperation is a crucial aspect for human-robot
interaction with unmanned aerial vehicles (UAVs) applications.
Fast perception processing is required to ensure robustness,
precision, and safety. Event cameras are ... Teleoperation is a crucial aspect for human-robot interaction with unmanned aerial vehicles (UAVs) applications. Fast perception processing is required to ensure robustness, precision, and safety. Event cameras are neuromorphic sensors that provide low latency response, high dynamic range and low power consumption. Although classical image-based methods have been extensively used for human-robot interaction tasks, responsiveness is limited by their processing rates. This paper presents a human-robot teleoperation scheme for UAVs that exploits the advantages of both traditional and event cameras. The proposed scheme was tested in teleoperation missions where the pose of a multirotor robot is controlled in real time using human gestures detected from events. |
Agencias financiadoras | European Union (UE). H2020 Consejo Europeo de Investigación |
Identificador del proyecto | 2019-87147
788247 |
Cita | Rodríguez Gómez, J.P., Tapia López, R., Eguiluz, A.G., Martínez de Dios, J.R. y Ollero Baturone, A. (2021). UAV human teleoperation using event-based and frame-based cameras. En 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment (173180-), Biograd na Moru, Croacia: Institute of Electrical and Electronics Engineers Inc. |
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