A distributed robotic vision service

William Chamberlain, Jurgen Leitner, Tom Drummond, Peter Corke

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

8 Citations (Scopus)


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 languageEnglish
Title of host publication2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Subtitle of host publicationStockholm, Sweden; May 16-21, 2016
EditorsAllison Okamura
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages6
ISBN (Electronic)9781467380263
ISBN (Print)9781467380270
Publication statusPublished - 8 Jun 2016
EventIEEE International Conference on Robotics and Automation 2016 - Stockholm, Sweden
Duration: 16 May 201621 May 2016
https://ieeexplore.ieee.org/xpl/conhome/7478842/proceeding (Proceedings)


ConferenceIEEE International Conference on Robotics and Automation 2016
Abbreviated titleICRA 2016
Internet address

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