A distributed robotic vision service

William Chamberlain; Jurgen Leitner; Tom Drummond; Peter Corke

doi:10.1109/ICRA.2016.7487403

A distributed robotic vision service

William Chamberlain, Jurgen Leitner, Tom Drummond, Peter Corke

Electrical and Computer Systems Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

8 Citations (Scopus)

Abstract

Robotic vision is limited by line of sight and on-board 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.

Original language	English
Title of host publication	2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Subtitle of host publication	Stockholm, Sweden; May 16-21, 2016
Editors	Allison Okamura
Place of Publication	Piscataway NJ USA
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	2494-2499
Number of pages	6
ISBN (Electronic)	9781467380263
ISBN (Print)	9781467380270
DOIs	https://doi.org/10.1109/ICRA.2016.7487403
Publication status	Published - 8 Jun 2016
Event	IEEE International Conference on Robotics and Automation 2016 - Stockholm, Sweden Duration: 16 May 2016 → 21 May 2016 https://ieeexplore.ieee.org/xpl/conhome/7478842/proceeding (Proceedings)

Conference

Conference	IEEE International Conference on Robotics and Automation 2016
Abbreviated title	ICRA 2016
Country/Territory	Sweden
City	Stockholm
Period	16/05/16 → 21/05/16
Internet address	https://ieeexplore.ieee.org/xpl/conhome/7478842/proceeding (Proceedings)

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10.1109/ICRA.2016.7487403Licence: Unspecified

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title = "A distributed robotic vision service",

abstract = "Robotic vision is limited by line of sight and on-board 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.",

author = "William Chamberlain and Jurgen Leitner and Tom Drummond and Peter Corke",

year = "2016",

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booktitle = "2016 IEEE International Conference on Robotics and Automation, ICRA 2016",

publisher = "IEEE, Institute of Electrical and Electronics Engineers",

address = "United States of America",

note = "IEEE International Conference on Robotics and Automation 2016, ICRA 2016 ; Conference date: 16-05-2016 Through 21-05-2016",

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Chamberlain, W, Leitner, J, Drummond, T & Corke, P 2016, A distributed robotic vision service. in A Okamura (ed.), 2016 IEEE International Conference on Robotics and Automation, ICRA 2016: Stockholm, Sweden; May 16-21, 2016., 7487403, IEEE, Institute of Electrical and Electronics Engineers, Piscataway NJ USA, pp. 2494-2499, IEEE International Conference on Robotics and Automation 2016, Stockholm, Sweden, 16/05/16. https://doi.org/10.1109/ICRA.2016.7487403

A distributed robotic vision service. / Chamberlain, William; Leitner, Jurgen; Drummond, Tom et al.

2016 IEEE International Conference on Robotics and Automation, ICRA 2016: Stockholm, Sweden; May 16-21, 2016. ed. / Allison Okamura. Piscataway NJ USA : IEEE, Institute of Electrical and Electronics Engineers, 2016. p. 2494-2499 7487403.

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

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AB - Robotic vision is limited by line of sight and on-board 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.

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A distributed robotic vision service

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Distributed robotic vision as a service

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