Research output per year
Research output per year
William Chamberlain, Jurgen Leitner, Tom Drummond, Peter Corke
Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review
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 |
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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 | |
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 | IEEE International Conference on Robotics and Automation 2016 |
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Abbreviated title | ICRA 2016 |
Country/Territory | Sweden |
City | Stockholm |
Period | 16/05/16 → 21/05/16 |
Internet address |
Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review