UAV human teleoperation using event-based and frame-based cameras

Abstract

Teleoperation is a crucial aspect for human-robot interaction with unmanned aerial vehicles (UAVs) applications. Fast perception processing is required to ensure robustness, precision, and safety. Event cameras are neuromorphic sensors that provide low latency response, high dynamic range and low power consumption. Although classical image-based methods have been extensively used for human-robot interaction tasks, responsiveness is limited by their processing rates. This paper presents a human-robot teleoperation scheme for UAVs that exploits the advantages of both traditional and event cameras. The proposed scheme was tested in teleoperation missions where the pose of a multirotor robot is controlled in real time using human gestures detected from events.

ASAP: adaptive transmission scheme for online processing of event-based algorithms

“…These results validate that ASAP or its random event removal γ -filter do not perturb the efficacy of the event-based corner detector tested. ASAP has also been validated with other event-by-event algorithms with different computational burden, such as , and other algorithms based on event images and hybrid processing, such as (Gómez Eguíluz et al, 2020), (Martínez-de Dios et al, 2020), or (Rodríguez-Gómez et al, 2021a.…”