A Distributed Robotic Vision Service


Autoria(s): Chamberlain, William; Leitner, Juergen; Drummond, Tom; Corke, Peter
Data(s)

15/02/2016

Resumo

Robotic vision is limited by line of sight and onboard camera capabilities. Robots can acquire video or images from remote cameras, but processing additional data has a computational burden. This paper applies the Distributed Robotic Vision Service, DRVS, to robot path planning using data outside line-of-sight of the robot. DRVS implements a distributed visual object detection service to distributes the computation to remote camera nodes with processing capabilities. Robots request task-specific object detection from DRVS by specifying a geographic region of interest and object type. The remote camera nodes perform the visual processing and send the high-level object information to the robot. Additionally, DRVS relieves robots of sensor discovery by dynamically distributing object detection requests to remote camera nodes. Tested over two different indoor path planning tasks DRVS showed dramatic reduction in mobile robot compute load and wireless network utilization.

Formato

application/pdf

Identificador

http://eprints.qut.edu.au/93591/

Relação

http://eprints.qut.edu.au/93591/1/WilliamChamberlain_icra2016_drvs_cameraready_08.pdf

Chamberlain, William, Leitner, Juergen, Drummond, Tom, & Corke, Peter (2016) A Distributed Robotic Vision Service. In IEEE International Conference on Robotics and Automation (ICRA 2016), 15-21 May 2016, Stockholm, Sweden.

http://purl.org/au-research/grants/ARC/CE140100016

Direitos

Copyright 2016 IEEE

Fonte

ARC Centre of Excellence for Robotic Vision; School of Electrical Engineering & Computer Science; Science & Engineering Faculty

Palavras-Chave #080104 Computer Vision #080599 Distributed Computing not elsewhere classified #robot vision #networked robotics #robot vision systems #distributed vision
Tipo

Conference Paper