Distributed robotic vision as a service

William Chamberlain, Thomas William Drummond, Peter Ian Corke

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

Abstract

The vision sense of standalone robots is limited by line of sight and onboard camera capabilities, but processing video from remote cameras puts a high computational burden on robots. This paper describes the Distributed Robotic Vision Service, DRVS, which implements an on-demand distributed visual object detection service. Robots specify visual information requirements in terms of regions of interest and object detection algorithms. DRVS dynamically distributes the object detection computation to remote vision systems with processing capabilities, and the robots receive high-level object detection information. DRVS relieves robots of managing sensor discovery and reduces data transmission compared to image sharing models of distributed vision. Navigating a sensorless robot from remote vision systems is demonstrated in simulation as a proof of concept.
Original languageEnglish
Title of host publicationAustralasian Conference on Robotics and Automation, ACRA 2015
Subtitle of host publication2-4 December 2015; Canberra, Australia
EditorsRobert Mahony, Jonghyuk Kim, Hongdong Li
Place of PublicationCanberra ACT Australia
PublisherAustralian Robotics & Automation Association Inc
Pages379-387
Number of pages9
ISBN (Electronic)9780980740462
ISBN (Print)9781510819269
Publication statusPublished - 2015
EventAustralasian Conference on Robotics and Automation 2015 - Australian National University (ANU), Canberra, Australia
Duration: 2 Dec 20154 Dec 2015
http://www.araa.asn.au/conferences/acra-2015/

Conference

ConferenceAustralasian Conference on Robotics and Automation 2015
Abbreviated titleACRA 2015
CountryAustralia
CityCanberra
Period2/12/154/12/15
Internet address

Cite this

Chamberlain, W., Drummond, T. W., & Corke, P. I. (2015). Distributed robotic vision as a service. In R. Mahony, J. Kim, & H. Li (Eds.), Australasian Conference on Robotics and Automation, ACRA 2015: 2-4 December 2015; Canberra, Australia (pp. 379-387). Canberra ACT Australia: Australian Robotics & Automation Association Inc.
Chamberlain, William ; Drummond, Thomas William ; Corke, Peter Ian. / Distributed robotic vision as a service. Australasian Conference on Robotics and Automation, ACRA 2015: 2-4 December 2015; Canberra, Australia. editor / Robert Mahony ; Jonghyuk Kim ; Hongdong Li. Canberra ACT Australia : Australian Robotics & Automation Association Inc, 2015. pp. 379-387
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Chamberlain, W, Drummond, TW & Corke, PI 2015, Distributed robotic vision as a service. in R Mahony, J Kim & H Li (eds), Australasian Conference on Robotics and Automation, ACRA 2015: 2-4 December 2015; Canberra, Australia. Australian Robotics & Automation Association Inc, Canberra ACT Australia, pp. 379-387, Australasian Conference on Robotics and Automation 2015, Canberra, Australia, 2/12/15.

Distributed robotic vision as a service. / Chamberlain, William; Drummond, Thomas William; Corke, Peter Ian.

Australasian Conference on Robotics and Automation, ACRA 2015: 2-4 December 2015; Canberra, Australia. ed. / Robert Mahony; Jonghyuk Kim; Hongdong Li. Canberra ACT Australia : Australian Robotics & Automation Association Inc, 2015. p. 379-387.

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

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AB - The vision sense of standalone robots is limited by line of sight and onboard camera capabilities, but processing video from remote cameras puts a high computational burden on robots. This paper describes the Distributed Robotic Vision Service, DRVS, which implements an on-demand distributed visual object detection service. Robots specify visual information requirements in terms of regions of interest and object detection algorithms. DRVS dynamically distributes the object detection computation to remote vision systems with processing capabilities, and the robots receive high-level object detection information. DRVS relieves robots of managing sensor discovery and reduces data transmission compared to image sharing models of distributed vision. Navigating a sensorless robot from remote vision systems is demonstrated in simulation as a proof of concept.

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Chamberlain W, Drummond TW, Corke PI. Distributed robotic vision as a service. In Mahony R, Kim J, Li H, editors, Australasian Conference on Robotics and Automation, ACRA 2015: 2-4 December 2015; Canberra, Australia. Canberra ACT Australia: Australian Robotics & Automation Association Inc. 2015. p. 379-387