@inproceedings{9ce80810af05401fb1848cebe0c4369c,
title = "The role of vision in perching and grasping for MAVs",
abstract = "In this work, we provide an overview of vision-based control for perching and grasping for Micro Aerial Vehicles. We investigate perching on at, inclined, or vertical surfaces as well as visual servoing techniques for quadrotors to enable autonomous perching by hanging from cylindrical structures using only a monocular camera and an appropriate gripper. The challenges of visual servoing are discussed, and we focus on the problems of relative pose estimation, control, and trajectory planning for maneuvering a robot with respect to an object of interest. Finally, we discuss future challenges to achieve fully autonomous perching and grasping in more realistic scenarios.",
keywords = "Grasping, Micro aerial vehicles, Perching, Visual servoing",
author = "Justin Thomas and Giuseppe Loianno and Kostas Daniilidis and Vijay Kumar",
note = "Publisher Copyright: {\textcopyright} 2016 SPIE.; Micro- and Nanotechnology Sensors, Systems, and Applications VIII Conference ; Conference date: 17-04-2016 Through 21-04-2016",
year = "2016",
doi = "10.1117/12.2224056",
language = "English (US)",
series = "Proceedings of SPIE - The International Society for Optical Engineering",
publisher = "SPIE",
editor = "Thomas George and Dutta, {Achyut K.} and Islam, {M. Saif}",
booktitle = "Micro- and Nanotechnology Sensors, Systems, and Applications VIII",
}