空中・地上協調センシング：遠隔操作のための三人称視点
Aerial-Ground collaborative sensing: Third-Person view for teleoperation
ドローンが地上ロボットの三人称視点を自律的に提供し、GPSのない環境でも複数のロボット間を切り替えて遠隔操作を支援するシステムを提案・実証した。
著者: Abel Gawel, Yukai Lin, Théodore Koutros, Roland Siegwart, Cesar Cadena
分類: cs.RO
原文アブストラクト
Rapid deployment and operation are key requirements in time critical application, such as Search and Rescue (SaR). Efficiently teleoperated ground robots can support first-responders in such situations. However, first-person view teleoperation is sub-optimal in difficult terrains, while a third-person perspective can drastically increase teleoperation performance. Here, we propose a Micro Aerial Vehicle (MAV)-based system that can autonomously provide third-person perspective to ground robots. While our approach is based on local visual servoing, it further leverages the global localization of several ground robots to seamlessly transfer between these ground robots in GPS-denied environments. Therewith one MAV can support multiple ground robots on a demand basis. Furthermore, our system enables different visual detection regimes, and enhanced operability, and return-home functionality. We evaluate our system in real-world SaR scenarios.
