In this video, we present the first onboard perception system for 6-DOF localization during quadrotor high-speed maneuvers using a Dynamic Vision Sensor (DVS). Unlike a standard CMOS camera, a DVS does not wastefully send full image frames at a fixed frame rate. Conversely, similar to the human eye, it only transmits pixel-level brightness changes at the time they occur with microsecond resolution, thus, offering the possibility to create a perception pipeline whose latency is negligible compared to the dynamics of the robot. We exploit these characteristics to estimate the pose of a quadrotor with respect to a known pattern during high-speed maneuvers, such as flips, with rotational speeds up to 1,200 degrees per second. Our algorithm is completely event-based, that is, every event is used as it comes to update the pose of the robot. youtu.be/LauQ6LWTkxM Reference paper: B. Huber, D. Scaramuzza, Event-based, 6-DOF Pose Tracking for High-Speed Maneuvers, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, 2014. rpg.ifi.uzh.ch/docs/IROS14_Mueggler.pdf
Posted on: Mon, 15 Sep 2014 23:53:49 +0000
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