Towards Low-Latency High-Bandwidth Control of Quadrotors using Event Cameras
IEEE International Conference on Robotics and Automation (ICRA), Paris, 2020 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 drone...
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| creator | Dimitrova, Rika Sugimoto Gehrig, Mathias Brescianini, Dario Scaramuzza, Davide |
| description | IEEE International Conference on Robotics and Automation (ICRA),
Paris, 2020 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 deg/s. |
| doi_str_mv | 10.48550/arxiv.1911.04553 |
| format | Article |
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Paris, 2020 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 deg/s.</description><identifier>DOI: 10.48550/arxiv.1911.04553</identifier><language>eng</language><subject>Computer Science - Robotics ; Computer Science - Systems and Control</subject><creationdate>2019-11</creationdate><rights>http://arxiv.org/licenses/nonexclusive-distrib/1.0</rights><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>228,230,780,885</link.rule.ids><linktorsrc>$$Uhttps://arxiv.org/abs/1911.04553$$EView_record_in_Cornell_University$$FView_record_in_$$GCornell_University$$Hfree_for_read</linktorsrc><backlink>$$Uhttps://doi.org/10.48550/arXiv.1911.04553$$DView paper in arXiv$$Hfree_for_read</backlink></links><search><creatorcontrib>Dimitrova, Rika Sugimoto</creatorcontrib><creatorcontrib>Gehrig, Mathias</creatorcontrib><creatorcontrib>Brescianini, Dario</creatorcontrib><creatorcontrib>Scaramuzza, Davide</creatorcontrib><title>Towards Low-Latency High-Bandwidth Control of Quadrotors using Event Cameras</title><description>IEEE International Conference on Robotics and Automation (ICRA),
Paris, 2020 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 deg/s.</description><subject>Computer Science - Robotics</subject><subject>Computer Science - Systems and Control</subject><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2019</creationdate><recordtype>article</recordtype><sourceid>GOX</sourceid><recordid>eNotz71OwzAYhWEvDKjlApjwDTjYdRw7Y4kKRbJUIWWPPv-ktdTayE4bevdAQWd4tyM9CD0yWtVKCPoM-StcKtYyVtFaCH6PdJ9myK5gnWaiYfLRXvE27A_kBaKbg5sOuEtxyumI04g_zuBymlIu-FxC3OPNxccJd3DyGcoS3Y1wLP7hvwvUv276bkv07u29W2sCjeRESruirJF0tC2XVFFnhLPGtE7ydlVzMBZ-xkWjDDVSNdw44UGCV5SCUHyBnv5ub5zhM4cT5OvwyxpuLP4N3A9IRQ</recordid><startdate>20191111</startdate><enddate>20191111</enddate><creator>Dimitrova, Rika Sugimoto</creator><creator>Gehrig, Mathias</creator><creator>Brescianini, Dario</creator><creator>Scaramuzza, Davide</creator><scope>AKY</scope><scope>GOX</scope></search><sort><creationdate>20191111</creationdate><title>Towards Low-Latency High-Bandwidth Control of Quadrotors using Event Cameras</title><author>Dimitrova, Rika Sugimoto ; Gehrig, Mathias ; Brescianini, Dario ; Scaramuzza, Davide</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-a673-77c201670fc937080db5dcbb9d739243abcacac3568b0b7863bd5ea7ae800a583</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2019</creationdate><topic>Computer Science - Robotics</topic><topic>Computer Science - Systems and Control</topic><toplevel>online_resources</toplevel><creatorcontrib>Dimitrova, Rika Sugimoto</creatorcontrib><creatorcontrib>Gehrig, Mathias</creatorcontrib><creatorcontrib>Brescianini, Dario</creatorcontrib><creatorcontrib>Scaramuzza, Davide</creatorcontrib><collection>arXiv Computer Science</collection><collection>arXiv.org</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Dimitrova, Rika Sugimoto</au><au>Gehrig, Mathias</au><au>Brescianini, Dario</au><au>Scaramuzza, Davide</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Towards Low-Latency High-Bandwidth Control of Quadrotors using Event Cameras</atitle><date>2019-11-11</date><risdate>2019</risdate><abstract>IEEE International Conference on Robotics and Automation (ICRA),
Paris, 2020 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 deg/s.</abstract><doi>10.48550/arxiv.1911.04553</doi><oa>free_for_read</oa></addata></record> |
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| subjects | Computer Science - Robotics Computer Science - Systems and Control |
| title | Towards Low-Latency High-Bandwidth Control of Quadrotors using Event Cameras |
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