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Open AccessArticle

Autonomous Vision-Based Aerial Grasping for Rotorcraft Unmanned Aerial Vehicles

School of Data and Computer Science, Sun Yat-sen University, Guangzhou 510006, China
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Author to whom correspondence should be addressed.
Sensors 2019, 19(15), 3410; https://doi.org/10.3390/s19153410
Received: 30 June 2019 / Revised: 29 July 2019 / Accepted: 1 August 2019 / Published: 3 August 2019
(This article belongs to the Special Issue Advance in Sensors and Sensing Systems for Driving and Transport)
Autonomous vision-based aerial grasping is an essential and challenging task for aerial manipulation missions. In this paper, we propose a vision-based aerial grasping system for a Rotorcraft Unmanned Aerial Vehicle (UAV) to grasp a target object. The UAV system is equipped with a monocular camera, a 3-DOF robotic arm with a gripper and a Jetson TK1 computer. Efficient and reliable visual detectors and control laws are crucial for autonomous aerial grasping using limited onboard sensing and computational capabilities. To detect and track the target object in real time, an efficient proposal algorithm is presented to reliably estimate the region of interest (ROI), then a correlation filter-based classifier is developed to track the detected object. Moreover, a support vector regression (SVR)-based grasping position detector is proposed to improve the grasp success rate with high computational efficiency. Using the estimated grasping position and the UAV?Äôs states, novel control laws of the UAV and the robotic arm are proposed to perform aerial grasping. Extensive simulations and outdoor flight experiments have been implemented. The experimental results illustrate that the proposed vision-based aerial grasping system can autonomously and reliably grasp the target object while working entirely onboard.
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Keywords: autonomous aerial grasping; unmanned aerial vehicle; visual perception; localization autonomous aerial grasping; unmanned aerial vehicle; visual perception; localization
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Lin, L.; Yang, Y.; Cheng, H.; Chen, X. Autonomous Vision-Based Aerial Grasping for Rotorcraft Unmanned Aerial Vehicles. Sensors 2019, 19, 3410.

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