TY - GEN
T1 - UAV Target-Selection
T2 - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
AU - Medeiros, Anna C.S.
AU - Ratsamee, Photchara
AU - Orlosky, Jason
AU - Uranishi, Yuki
AU - Higashida, Manabu
AU - Takemura, Haruo
N1 - Publisher Copyright:
© 2021 IEEE
PY - 2021
Y1 - 2021
N2 - This paper presents a 3D pointing interface application to signal a UAV's target in a large-scale environment. This system enables UAVs equipped with a monocular camera to determine which window of a building is selected by a human user in large-scale indoor or outdoor environments. The 3D pointing interface consists of three parts: YOLO, OpenPose, and ORB-SLAM. YOLO detects the target objects, e.g., windows, OpenPose extracts the user pose, and ORB-SLAM builds a scale-dependent 3D map, a set of 3D sparse feature points. To obtain the visual scale, it performs a calibration step with the user standing in front of the UAV at a certain distance. We detail how we chose the gesture, localize and detect objects, and transform between coordinate systems. The real-world experiment results showed that the 3D pointing interface obtained a 0.73 F1-score average and a 0.58 F1-Score at the maximum distance of 25 meters between UAV and building.
AB - This paper presents a 3D pointing interface application to signal a UAV's target in a large-scale environment. This system enables UAVs equipped with a monocular camera to determine which window of a building is selected by a human user in large-scale indoor or outdoor environments. The 3D pointing interface consists of three parts: YOLO, OpenPose, and ORB-SLAM. YOLO detects the target objects, e.g., windows, OpenPose extracts the user pose, and ORB-SLAM builds a scale-dependent 3D map, a set of 3D sparse feature points. To obtain the visual scale, it performs a calibration step with the user standing in front of the UAV at a certain distance. We detail how we chose the gesture, localize and detect objects, and transform between coordinate systems. The real-world experiment results showed that the 3D pointing interface obtained a 0.73 F1-score average and a 0.58 F1-Score at the maximum distance of 25 meters between UAV and building.
UR - http://www.scopus.com/inward/record.url?scp=85125483602&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85125483602&partnerID=8YFLogxK
U2 - 10.1109/ICRA48506.2021.9561688
DO - 10.1109/ICRA48506.2021.9561688
M3 - Conference contribution
AN - SCOPUS:85125483602
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3963
EP - 3969
BT - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 30 May 2021 through 5 June 2021
ER -