Gesture Control of Micro-drone: A Lightweight-Net with Domain Randomization and Trajectory Generators

• URL: http://arxiv.org/abs/2301.12470v1
• Date: Sun, 29 Jan 2023 15:38:15 GMT
• Title: Gesture Control of Micro-drone: A Lightweight-Net with Domain Randomization and Trajectory Generators
• Authors: Isaac Osei Agyemang, Isaac Adjei Mensah, Sophyani Banaamwini Yussif, Fiasam Linda Delali, Bernard Cobinnah Mawuli, Bless Lord Y. Agbley, Collins Sey, and Joshua Berkohd
• Abstract summary: This study presents a computationally-efficient deep convolutional neural network that utilizes Gabor filters and spatial separable convolutions. The model aids a human operator in controlling a micro-drone via gestures. Using a low-cost DJI Tello drone for experiment verification, the computationally-efficient model shows promising results.
• Score: 0.0
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Micro-drones can be integrated into various industrial applications but are constrained by their computing power and expert pilots, a secondary challenge. This study presents a computationally-efficient deep convolutional neural network that utilizes Gabor filters and spatial separable convolutions with low computational complexities. An attention module is integrated with the model to complement the performance. Further, perception-based action space and trajectory generators are integrated with the model's predictions for intuitive navigation. The computationally-efficient model aids a human operator in controlling a micro-drone via gestures. Nearly 18% of computational resources are conserved using the NVIDIA GPU profiler during training. Using a low-cost DJI Tello drone for experiment verification, the computationally-efficient model shows promising results compared to a state-of-the-art and conventional computer vision-based technique.

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