Autonomous Vision-Based Aerial Grasping for Rotorcraft Unmanned Aerial Vehicles

  title={Autonomous Vision-Based Aerial Grasping for Rotorcraft Unmanned Aerial Vehicles},
  author={Lishan Lin and Yujia Yang and Hui Cheng and Xuechen Chen},
  journal={Sensors (Basel, Switzerland)},
Autonomous vision-based aerial grasping is an essential and challenging task for aerial manipulation missions. In this paper, we propose a vision-based aerial grasping system for a Rotorcraft Unmanned Aerial Vehicle (UAV) to grasp a target object. The UAV system is equipped with a monocular camera, a 3-DOF robotic arm with a gripper and a Jetson TK1 computer. Efficient and reliable visual detectors and control laws are crucial for autonomous aerial grasping using limited onboard sensing and… 
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