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Proceedings Paper

The role of vision in perching and grasping for MAVs
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Paper 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.

Paper Details

Date Published: 25 May 2016
PDF: 9 pages
Proc. SPIE 9836, Micro- and Nanotechnology Sensors, Systems, and Applications VIII, 98361S (25 May 2016); doi: 10.1117/12.2224056
Show Author Affiliations
Justin Thomas, Univ. of Pennsylvania (United States)
Giuseppe Loianno, Univ. of Pennsylvania (United States)
Kostas Daniilidis, Univ. of Pennsylvania (United States)
Vijay Kumar, Univ. of Pennsylvania (United States)


Published in SPIE Proceedings Vol. 9836:
Micro- and Nanotechnology Sensors, Systems, and Applications VIII
Thomas George; Achyut K. Dutta; M. Saif Islam, Editor(s)

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