A Small Form Factor Aerial Research Vehicle for Pick-and-Place Tasks with Onboard Real-Time Object Detection and Visual Odometry

Cora A. Dimmig,Anna Goodridge,Gabriel Baraban,Pupei Zhu,Joyraj Bhowmick,Marin Kobilarov,Cora A. Dimmig,Anna Goodridge,Gabriel Baraban,Pupei Zhu,Joyraj Bhowmick,Marin Kobilarov

This paper introduces a novel, small form-factor, aerial vehicle research platform for agile object detection, classification, tracking, and interaction tasks. General-purpose hardware components were designed to augment a given aerial vehicle and enable it to perform safe and reliable grasping. These components include a custom collision tolerant cage and low-cost Gripper Extension Package, which...