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	Object Detection for UAV Grasping Solution and Analysis
	Zhiheng Cheng; Can Wang; Huiguo Wang; Panwei Li; Yuxiao Li; Xinyu Wu
	2018
会议日期	2018
会议地点	Wuyishan, China
英文摘要	Fast and accurate detection of the object’s species and position are prerequisites for improving the efficiency of the UAV’s grasping and transporting. Accurate detection of the optimal grasping box for different objects is the guarantee to improve the success rate of the UAV’s grasping. The traditional UAV grasping researches frequently used external devices to acquire position and attitude information between the UAV and the object, such as using a motion capture system, but these methods have their own limitations. This paper designs an object detection system for UAV grasping. The system uses the object detection algorithm to provide the species and position information of object for UAV, and controls the UAV to fly over the object. The RGB-D sensor is used to acquire the image and depth information of object, and an optimal grasping box is trained based on the deep learning network to provide the grasping information for the UAV. The experiments show that the object detection system under the scene of UAV grasping can provide the species, localization and optimal grasping box of the object.
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/13827]
专题	深圳先进技术研究院_集成所
推荐引用方式 GB/T 7714	Zhiheng Cheng,Can Wang,Huiguo Wang,et al. Object Detection for UAV Grasping Solution and Analysis[C]. 见:. Wuyishan, China. 2018.

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