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Davide Scaramuzza
Are We Ready for Autonomous Drones?
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My lab homepage: http://rpg.ifi.uzh.ch/
Publications: http://rpg.ifi.uzh.ch/publications.html
Software & Datasets: http://rpg.ifi.uzh.ch/software_datasets.html
YouTube: https://www.youtube.com/user/ailabRPG/videos
Drone Market Today: 130B$
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Inspection Agriculture
Transport Search and Rescue
Davide Scaramuzza University of Zurich
https://www.pwc.pl/pl/pdf/clarity-from-above-pwc.pdf
Swiss Drone Industry Map
3https://droneindustry.ch/swiss-drone-industry-map/
How are current commercial drones controlled?
Remote control
Requires line of sight or communication link
Requires skilled pilots
GPS-based navigation
Drone crash during soccer match, Brasilia, 2013
Flyability - Inspection drone (remote controlled)
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Wingtra - Autonomous Mapping (GPS-based)
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Cargo Delivery (GPS-based)
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Matternet & Swiss Post delivering blood samples between two hospitals in Lugano
https://www.post.ch/en/companycars/post-company-cars-ltd/media/2017/swiss-post-drone-to-fly-laboratory-samples-for-ticino-hospitals
Does not work indoors
Even outdoors it is not a reliable service
Satellite coverage
Multipath problem
What is GPS if obstructed or just not available?
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How do we localize without GPS?
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Ultra-Wide-Band Localization (UWB)
12A Ledergerber, M Hamer, R D'Andrea,
A robot self-localization system using one-way ultra-wideband communication, IROS 2015
Ultra-Wide-Band Localization (Verity Studios AG)
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A Ledergerber, M Hamer, R D'Andrea,
A robot self-localization system using one-way ultra-wideband communication, IROS 2015
How can Autonomous Drones fly without external sensors
(no GPS, no UWB)?
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LIDAR-based Localization
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Lidar-based Localization
Google car
Lidar-based Localization
17J. Zhang and S. Singh.
Laser-visual-inertial Odometry and Mapping with High Robustness and Low Drift, Journal of Field Robotics. 2018
Vision-based Localization
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Vision-based Localization
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Camera
Phone PC
How Does it Work ?
Image 1Image 2
Scaramuzza, Fraundorfer, Pollefeys, Lee, Meier, Siegwart, Chli, Achtelick, Weiss, et al., Vision-Controlled Micro Flying Robots, IEEE RAM’14
Visual Simultaneous Localization and Mapping(VSLAM)
DARPA FLA Program (2015-2018)
21Mohta, Watterson, Mulgaonkar, Liu, Qu, Makineni, Saulnier, Sun, Zhu, Delmerico, Karydis, Atanasov, Loianno, Scaramuzza, Daniilidis, Taylor, Kumar
Fast, Autonomous Flight in GPS‐denied and Cluttered Environments, Journal of Field Robotics, 2018. PDF
Is then Autonomous Navigation Solved?
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Davide Scaramuzza – University of Zurich – [email protected]
My Vision (10 years?): Fast, Lightweight, Autonomous
WARNING! There are 50 drones in this video but 40 are CGI and
10 are controlled via a Motion Capture System
LEXUS commercial, 2013
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Perception is the biggest challenge:
Challenging illumination
Motion blur at high speeds
Open Challenges for Vision-based Drones
Artificial Intelligence
• Currently solved by Machine Learning, i.e., programming by examples: Show the computer what to do, without explaining how to do it!
• The robot programs itself to imitate the examples at best.
• Continuous self improvement via more data/experience.
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Deep Networks Can Help Cope with Inaccurate Models
[Giusti, RAL’16], [Smolyanskiy, IROS 2017], [Loquercio, RAL’18], [Kaufmann, CORL’18, 4% Oral Acceptance Rate]
[Giusti, RAL’16], [Smolyanskiy, IROS 2017], [Loquercio, RAL’18], [Kaufmann, CORL’18]
Learning to Fly by Mimicing Cars and Bicycles
Reconfigurable Drones
Falanga, Kleber, Mintchev, Floreano, Scaramuzza, An Autonomous Vision-based Foldable Quadrotor that can Squeeze and Fly, IEEE Robotics and Automation Letters 2018, under review
Davide Scaramuzza – University of Zurich – [email protected]
Future: Autonomous Drone Racing?
WARNING! There are 50 drones in this video but 40 are CGI and
10 are controlled via a Motion Capture System
LEXUS commercial, 2013
WARNING! This drone flown is NOT autonomous; it is operated by a human pilot.
Human pilots take years to acquire the skills shown in this video.29