  This paper presents a novel telepresence system for enhancing aerial
manipulation capabilities. It involves not only a haptic device, but also a
virtual reality that provides a 3D visual feedback to a remotely-located
teleoperator in real-time. We achieve this by utilizing onboard visual and
inertial sensors, an object tracking algorithm and a pre-generated object
database. As the virtual reality has to closely match the real remote scene, we
propose an extension of a marker tracking algorithm with visual-inertial
odometry. Both indoor and outdoor experiments show benefits of our proposed
system in achieving advanced aerial manipulation tasks, namely grasping,
placing, force exertion and peg-in-hole insertion.
