Eventbased 6Dof Pose Tracking For Highspeed Maneuvers

• doi: 10.1109/IROS.2014.6942940
• title: Event-based, 6-DOF pose tracking for high-speed maneuvers
• publisher: IEEE
• isbn: 978-1-4799-6931-9
• issn: 2153-0866
• rank: 2420
• access_type: LOCKED
• content_type: Conferences
• abstract: In the last few years, we have witnessed impressive demonstrations of aggressive flights and acrobatics using quadrotors. However, those robots are actually blind. They do not see by themselves, but through the “eyes” of an external motion capture system. Flight maneuvers using onboard sensors are still slow compared to those attainable with motion capture systems. At the current state, the agility of a robot is limited by the latency of its perception pipeline. To obtain more agile robots, we need to use faster sensors. In this paper, we present the first onboard perception system for 6-DOF localization during 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 °/s. Additionally, we provide a versatile method to capture ground-truth data using a DVS.
• article_number: 6942940
• pdf_url: https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6942940
• html_url: https://ieeexplore.ieee.org/document/6942940/
• abstract_url: https://ieeexplore.ieee.org/document/6942940/
• publication_title: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems
• conference_location: Chicago, IL, USA
• conference_dates: 14-18 Sept. 2014
• publication_number: 6926644
• is_number: 6942370
• publication_year: 2014
• publication_date: 14-18 Sept. 2014
• start_page: 2761
• end_page: 2768
• citing_paper_count: 164
• citing_patent_count: 8
• download_count: 3129
• insert_date: 20141106
• index_terms:
  • ieee_terms:
    • Voltage control
    • Cameras
    • Standards
    • Sensors
    • CMOS integrated circuits
    • Robots
    • Calibration
  • dynamic_index_terms:
    • Pose Tracking
    • 6-DoF Pose
    • Rotational Speed
    • Rotation Rate
    • Agility
    • Motion Capture System
    • Onboard Sensors
    • Brightness Changes
    • Standard Camera
    • Dynamic Vision Sensor
    • Event Camera
    • Focal Length
    • Focal Distance
    • Exhaustive Search
    • Brute-force Search
    • Line Segment
    • White Background
    • Pose Estimation
    • Angular Speed
    • Angular Rate
    • Black Squares
    • Sensor Noise
    • Gradient Information
    • Reprojection
    • Motion Blur
    • Virtual Camera
    • Simultaneous Localization And Mapping
    • Perspective Transformation
    • Origin Of Frame
    • World Frame
    • Hough Transform
    • Hough Space
    • Intervals In Order
    • Ground Robots
• isbn_formats:
  • format: DVD ISBN, value: 978-1-4799-6931-9, isbnType: New-2005
  • format: Electronic ISBN, value: 978-1-4799-6934-0, isbnType: New-2005
• authors:
  • Author Name: Elias Mueggler
    Affiliation: Robotics and Perception Group, University of Zurich, Switzerland
    Author URL: https://ieeexplore.ieee.org/author/38541108800
    ID: 38541108800
    Order: 1
    Author Affiliations:
    • Robotics and Perception Group, University of Zurich, Switzerland
  • Author Name: Basil Huber
    Affiliation: Robotics and Perception Group, University of Zurich, Switzerland
    Author URL: https://ieeexplore.ieee.org/author/38335411600
    ID: 38335411600
    Order: 2
    Author Affiliations:
    • Robotics and Perception Group, University of Zurich, Switzerland
  • Author Name: Davide Scaramuzza
    Affiliation: Robotics and Perception Group, University of Zurich, Switzerland
    Author URL: https://ieeexplore.ieee.org/author/37397688400
    ID: 37397688400
    Order: 3
    Author Affiliations:
    • Robotics and Perception Group, University of Zurich, Switzerland

Image Sensor

• sensor_type: Dynamic Vision Sensor (DVS)
• resolution: 128x128
• dynamic_range: 120 dB
• pixel_size: Not explicitly stated (but related to sensor characteristics)
• dark_current: Not explicitly stated (but can be inferred from operational characteristics)

Optical Data

• focal_length: 69 pixels (calibrated)
• aperture: Not explicitly stated
• field_of_view: Not explicitly stated
• distortion: Not explicitly stated

Performance Metrics

• frame_rate: Microsecond resolution, low latency compared to traditional CMOS
• signal_to_noise_ratio: Not explicitly stated
• sensitivity: Not explicitly stated
• shutter_speed: Not explicitly stated (operates asynchronously)
• power_consumption: Not explicitly stated (but inferred to be low due to integration)
• noise: Sensor noise effectively managed via event-based processing.

Applications & Benefits

• cell_imaging: Not explicitly stated, but useful in high-speed imaging applications.
• benefits: Enables high-speed, low-latency pose tracking during aggressive maneuvers.

Supporting Organizations

• supported_by: Swiss National Science Foundation, National Centre of Competence in Research Robotics, Google

Manuscript Details

• publication_date: 14-18 Sept. 2014

Relevancy Score

• score: 9
• missing_fields:
  • microlenses
  • on-chip color filters
  • global or rolling shutters
  • backside illumination

Processed JSON Filename

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