ML Anthology

Vision Based Autonomous Orientational Control for Aerial Manipulation via On-Board FPGA

Leewiwatwong Suphachart, Syohei Shimahara, Robert Ladig, Kazuhiro Shimonomura
CVPRW 2016 pp. 854-860
doi:10.1109/CVPRW.2016.111 /cvprw/2016/suphachart2016cvprw-vision/

Abstract

We describe an FPGA-based on-board control system for autonomous orientation of an aerial robot to assist aerial manipulation tasks. The system is able to apply yaw control to aid an operator to precisely position a drone when it is nearby a bar-like object. This is achieved by applying parallel Hough transform enhanced with a novel image space separation method, enabling highly reliable results in various circumstances combined with high performance. The feasibility of this approach is shown by applying the system to a multi-rotor aerial robot equipped with an upward directed robotic hand on top of the airframe developed for high altitude manipulation tasks. In order to grasp a barlike object, orientation of the bar object is observed from the image data obtained by a monocular camera mounted on the robot. This data is then analyzed by the on-board FPGA system to control yaw angle of the aerial robot. In experiments, reliable yaw-orientation control of the aerial robot is achieved.

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Cite

Text

Suphachart et al. "Vision Based Autonomous Orientational Control for Aerial Manipulation via On-Board FPGA." IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, 2016. doi:10.1109/CVPRW.2016.111

Markdown

[Suphachart et al. "Vision Based Autonomous Orientational Control for Aerial Manipulation via On-Board FPGA." IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, 2016.](https://mlanthology.org/cvprw/2016/suphachart2016cvprw-vision/) doi:10.1109/CVPRW.2016.111

BibTeX

@inproceedings{suphachart2016cvprw-vision,
  title     = {{Vision Based Autonomous Orientational Control for Aerial Manipulation via On-Board FPGA}},
  author    = {Suphachart, Leewiwatwong and Shimahara, Syohei and Ladig, Robert and Shimonomura, Kazuhiro},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops},
  year      = {2016},
  pages     = {854-860},
  doi       = {10.1109/CVPRW.2016.111},
  url       = {https://mlanthology.org/cvprw/2016/suphachart2016cvprw-vision/}
}