5069951
doi
10.5281/zenodo.5069951
oai:zenodo.org:5069951
user-eu
J. P. Rodríguez-Gómez
GRVC Robotics Lab, University of Seville
R. Tapia
GRVC Robotics Lab, University of Seville
F. J. Maldonado
GRVC Robotics Lab, University of Seville
J. Á. Acosta
GRVC Robotics Lab, University of Seville
J.R. Martínez-de Dios
GRVC Robotics Lab, University of Seville
A. Ollero
GRVC Robotics Lab, University of Seville
Why fly blind? Event-based visual guidance for ornithopter robot flight
A. Gómez Eguíluz
GRVC Robotics Lab, University of Seville
info:eu-repo/semantics/openAccess
Creative Commons Attribution 4.0 International
https://creativecommons.org/licenses/by/4.0/legalcode
Ornithopter, flapping-wing, event camera, line features, tracking, visual servoing, computer vision
<p>The development of perception and control meth-ods that allow bird-scale flapping-wing robots (a.k.a. ornithopters) to perform autonomously is an under-researched area. This paper presents a fully onboard event-based method for ornithopter robot visual guidance. The method uses event cameras to exploit their fast response and robustness against motion blur in order to feed the ornithopter control loop at high rates (100 Hz). The proposed scheme visually guides the robot using line features extracted in the event image plane and controls the flight by actuating over the horizontal and vertical tail deflections. It has been validated on board a real ornithopter robot with real-time computation in low-cost hardware. The experimental evaluation includes sets of experiments with different maneuvers indoors and outdoors.</p>
Zenodo
2021-07-05
info:eu-repo/semantics/conferencePaper
5069950
user-eu
1
award_title=General compliant aerial Robotic manipulation system Integrating Fixed and Flapping wings to INcrease range and safety; award_number=788247; award_identifiers_scheme=url; award_identifiers_identifier=https://cordis.europa.eu/projects/788247; funder_id=00k4n6c32; funder_name=European Commission;
1625668278.335838
9159959
md5:721535d4b97a448d90cf2df24791c305
https://zenodo.org/records/5069951/files/IROS2021___Event_based_guidance__PrePrint_.pdf
public
10.5281/zenodo.5069950
isVersionOf
doi