2 research outputs found
For the Thrill of it All: A bridge among Linux, Robot Operating System, Android and Unmanned Aerial Vehicles
Civilian Unmanned Aerial Vehicles (UAVs) are becoming more accessible for
domestic use. Currently, UAV manufacturer DJI dominates the market, and their
drones have been used for a wide range of applications. Model lines such as the
Phantom can be applied for autonomous navigation where Global Positioning
System (GPS) signals are not reliable, with the aid of Simultaneous
Localization and Mapping (SLAM), such as monocular Visual SLAM. In this work,
we propose a bridge among different systems, such as Linux, Robot Operating
System (ROS), Android, and UAVs as an open-source framework, where the gimbal
camera recording can be streamed to a remote server, supporting the
implementation of an autopilot. Finally, we present some experimental results
showing the performance of the video streaming validating the framework.Comment: Presented at WEC-UFPR 201
Kite: Automatic speech recognition for unmanned aerial vehicles
This paper addresses the problem of building a speech recognition system
attuned to the control of unmanned aerial vehicles (UAVs). Even though UAVs are
becoming widespread, the task of creating voice interfaces for them is largely
unaddressed. To this end, we introduce a multi-modal evaluation dataset for UAV
control, consisting of spoken commands and associated images, which represent
the visual context of what the UAV "sees" when the pilot utters the command. We
provide baseline results and address two research directions: (i) how robust
the language models are, given an incomplete list of commands at train time;
(ii) how to incorporate visual information in the language model. We find that
recurrent neural networks (RNNs) are a solution to both tasks: they can be
successfully adapted using a small number of commands and they can be extended
to use visual cues. Our results show that the image-based RNN outperforms its
text-only counterpart even if the command-image training associations are
automatically generated and inherently imperfect. The dataset and our code are
available at http://kite.speed.pub.ro.Comment: 5 pages, accepted at Interspeech 201