Visual-Inertial Telepresence for Aerial Manipulation
Jongseok Lee,Ribin Balachandran,Yuri S. Sarkisov,Marco De Stefano,Andre Coelho,Kashmira Shinde,Min Jun Kim,Rudolph Triebel,Konstantin Kondak,Jongseok Lee,Ribin Balachandran,Yuri S. Sarkisov,Marco De Stefano,Andre Coelho,Kashmira Shinde,Min Jun Kim,Rudolph Triebel,Konstantin Kondak
This paper presents a novel telepresence system for enhancing aerial manipulation capabilities. It involves not only a haptic device, but also a virtual reality that provides a 3D visual feedback to a remotely-located teleoperator in real-time. We achieve this by utilizing onboard visual and inertial sensors, an object tracking algorithm and a pregenerated object database. As the virtual reality h...
