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| Type | Conference or Workshop Paper |
| Scope | Discipline-based scholarship |
| Published in Proceedings | Yes |
| Title | Towards Low-Latency High-Bandwidth Control of Quadrotors using Event Cameras |
| Organization Unit | |
| Authors |
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| Presentation Type | paper |
| Item Subtype | Original Work |
| Refereed | Yes |
| Status | Published in final form |
| Language |
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| ISBN | 978-1-7281-7395-5 |
| Page Range | 4294 - 4300 |
| Event Title | 2020 IEEE International Conference on Robotics and Automation (ICRA) |
| Event Type | conference |
| Event Location | Paris, France |
| Event Start Date | July 1 - 2020 |
| Event End Date | October 1 - 2020 |
| Publisher | IEEE |
| Abstract Text | Event cameras are a promising candidate to enable high speed vision-based control due to their low sensor latency and high temporal resolution. However, purely event-based feedback has yet to be used in the control of drones. In this work, a first step towards implementing low-latency high-bandwidth control of quadrotors using event cameras is taken. In particular, this paper addresses the problem of one-dimensional attitude tracking using a dualcopter platform equipped with an event camera. The event-based state estimation consists of a modified Hough transform algorithm combined with a Kalman filter that outputs the roll angle and angular velocity of the dualcopter relative to a horizon marked by a black-and-white disk. The estimated state is processed by a proportional-derivative attitude control law that computes the rotor thrusts required to track the desired attitude. The proposed attitude tracking scheme shows promising results of event-camera-driven closed loop control: the state estimator performs with an update rate of 1 kHz and a latency determined to be 12 ms, enabling attitude tracking at speeds of over 1600°/s. |
| Related URLs | |
| Digital Object Identifier | 10.1109/icra40945.2020.9197530 |
| Other Identification Number | merlin-id:20311 |
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