Deep Drone Racing: From Simulation to Reality with Domain Randomization

Dynamically changing environments, unreliable state estimation, and operation under severe resource constraints are fundamental challenges that limit the deployment of small autonomous drones. We address these challenges in the context of autonomous, vision-based drone racing in dynamic environments. A racing drone must traverse a track with possibly moving gates at high speed. We enable this functionality by combining the performance of a state-of-the-art planning and control system with the perceptual awareness of a convolutional neural network (CNN). The resulting modular system is both platform- and domain-independent: it is trained in simulation and deployed on a physical quadrotor without any fine-tuning. The abundance of simulated data, generated via domain randomization, makes our system robust to changes of illumination and gate appearance. To the best of our knowledge, our approach is the first to demonstrate zero-shot sim-to-real transfer on the task of agile drone flight. We extensively test the precision and robustness of our system, both in simulation and on a physical platform, and show significant improvements over the state of the art.Comment: Accepted as a Regular Paper to the IEEE Transactions on Robotics Journal. arXiv admin note: substantial text overlap with arXiv:1806.0854

Perceptual modelling for 2D and 3D

Livrable D1.1 du projet ANR PERSEECe rapport a été réalisé dans le cadre du projet ANR PERSEE (n° ANR-09-BLAN-0170). Exactement il correspond au livrable D1.1 du projet

Visual Comfort Assessment for Stereoscopic Image Retargeting

In recent years, visual comfort assessment (VCA) for 3D/stereoscopic content has aroused extensive attention. However, much less work has been done on the perceptual evaluation of stereoscopic image retargeting. In this paper, we first build a Stereoscopic Image Retargeting Database (SIRD), which contains source images and retargeted images produced by four typical stereoscopic retargeting methods. Then, the subjective experiment is conducted to assess four aspects of visual distortion, i.e. visual comfort, image quality, depth quality and the overall quality. Furthermore, we propose a Visual Comfort Assessment metric for Stereoscopic Image Retargeting (VCA-SIR). Based on the characteristics of stereoscopic retargeted images, the proposed model introduces novel features like disparity range, boundary disparity as well as disparity intensity distribution into the assessment model. Experimental results demonstrate that VCA-SIR can achieve high consistency with subjective perception