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Sensors 2017, 17(1), 103; doi:10.3390/s17010103

Detection, Location and Grasping Objects Using a Stereo Sensor on UAV in Outdoor Environments

Robotics, Vision and Control Group, University of Seville, Camino de los Descubrimientos, s/n, Seville 41092, Spain
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Academic Editors: Felipe Gonzalez Toro and Antonios Tsourdos
Received: 9 November 2016 / Revised: 20 December 2016 / Accepted: 3 January 2017 / Published: 7 January 2017
(This article belongs to the Special Issue UAV-Based Remote Sensing)
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Abstract

The article presents a vision system for the autonomous grasping of objects with Unmanned Aerial Vehicles (UAVs) in real time. Giving UAVs the capability to manipulate objects vastly extends their applications, as they are capable of accessing places that are difficult to reach or even unreachable for human beings. This work is focused on the grasping of known objects based on feature models. The system runs in an on-board computer on a UAV equipped with a stereo camera and a robotic arm. The algorithm learns a feature-based model in an offline stage, then it is used online for detection of the targeted object and estimation of its position. This feature-based model was proved to be robust to both occlusions and the presence of outliers. The use of stereo cameras improves the learning stage, providing 3D information and helping to filter features in the online stage. An experimental system was derived using a rotary-wing UAV and a small manipulator for final proof of concept. The robotic arm is designed with three degrees of freedom and is lightweight due to payload limitations of the UAV. The system has been validated with different objects, both indoors and outdoors. View Full-Text
Keywords: UAV; grasping; outdoors UAV; grasping; outdoors
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Ramon Soria, P.; Arrue, B.C.; Ollero, A. Detection, Location and Grasping Objects Using a Stereo Sensor on UAV in Outdoor Environments. Sensors 2017, 17, 103.

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