论文标题
铅笔网：自动无人机赛车中稳健门的零射模拟到现实转移学习
PencilNet: Zero-Shot Sim-to-Real Transfer Learning for Robust Gate Perception in Autonomous Drone Racing
论文作者
论文摘要
在自主和移动机器人技术中，主要挑战之一是对环境的稳健感知，通常是未知和动态的，例如自主无人机赛车。在这项工作中，我们提出了一种新型的基于神经网络的感知方法，用于赛车门检测 - 铅笔网 - 依赖于铅笔滤波器顶部的轻质神经网络骨架。这种方法统一了对单个姿势元组中门的2D位置，距离和方向的预测。我们表明，我们的方法对于不需要任何现实世界训练样本的零射击SIM到运行转移学习有效。此外，与最先进的方法相比，在快速飞行下通常看到的照明变化非常强大。一组彻底的实验证明了这种方法在多种挑战的情况下的有效性，在多种挑战性的情况下，无人机在不同的照明条件下完成了各种轨道。
In autonomous and mobile robotics, one of the main challenges is the robust on-the-fly perception of the environment, which is often unknown and dynamic, like in autonomous drone racing. In this work, we propose a novel deep neural network-based perception method for racing gate detection -- PencilNet -- which relies on a lightweight neural network backbone on top of a pencil filter. This approach unifies predictions of the gates' 2D position, distance, and orientation in a single pose tuple. We show that our method is effective for zero-shot sim-to-real transfer learning that does not need any real-world training samples. Moreover, our framework is highly robust to illumination changes commonly seen under rapid flight compared to state-of-art methods. A thorough set of experiments demonstrates the effectiveness of this approach in multiple challenging scenarios, where the drone completes various tracks under different lighting conditions.
