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Type Conference or Workshop Paper
Scope Discipline-based scholarship
Published in Proceedings Yes
Title Towards evasive maneuvers with quadrotors using dynamic vision sensors
Organization Unit
Authors
  • Elias Müggler
  • Nathan Baumli
  • Flavio Fontana
  • Davide Scaramuzza
Presentation Type paper
Item Subtype Original Work
Refereed Yes
Status Published in final form
Language
  • English
ISBN 978-1-4673-9163-4
Page Range 1 - 8
Event Title 2015 European Conference on Mobile Robots (ECMR)
Event Type conference
Event Location Lincoln, United Kingdom
Event Start Date October 2 - 2015
Event End Date October 4 - 2015
Place of Publication Lincoln, United Kingdom
Publisher Institute of Electrical and Electronics Engineers (IEEE)
Abstract Text We present a method to predict collisions with objects thrown at a quadrotor using a pair of dynamic vision sensors (DVS). Due to the micro-second temporal resolution of these sensors and the sparsity of their output, the object's trajectory can be estimated with minimal latency. Unlike standard cameras that send frames at a fixed frame rate, a DVS only transmits pixel-level brightness changes (“events”) at the time they occur. Our method tracks spherical objects on the image plane using probabilistic trackers that are updated with each incoming event. The object's trajectory is estimated using an Extended Kalman Filter with a mixed state space that allows incorporation of both the object's dynamics and the measurement noise in the image plane. Using error-propagation techniques, we predict a collision if the 3σ-ellipsoid along the predicted trajectory intersects with a safety sphere around the quadrotor. We experimentally demonstrate that our method allows initiating evasive maneuvers early enough to avoid collisions.
Related URLs
Digital Object Identifier 10.1109/ECMR.2015.7324048
Other Identification Number merlin-id:12928
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