1 / 13

Enhancing Mobile Robot Vision With Cooperative Distributed Systems

Explore the concept of Cooperative Distributed Vision for Mobile Robots, including previous works, project outlines, limitations, and the potential for object tracking. Learn about vision agents and cooperative tracking protocols. See how this innovative system functions in real-world scenarios.

chloe-foley
Télécharger la présentation

Enhancing Mobile Robot Vision With Cooperative Distributed Systems

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Cooperative Distributed Vision for Mobile Robots E. Menegatti and E. Pagello IAS-Lab Dept. of Electronics and Informatics The University of Padua Italy

  2. Presentation’s Outline • What’s Distributed Vision • Previous works • Our projects: • Two Vision Agents on a Robot • Cooperative Object Tracking with Mobile Robots E. Menegatti - Cooperative Distributed Vision for Mobile Robots

  3. Distributed Vision • What is it? It is a set of vision systems embedded in the environment and connected by a network • DV tasks? • Real time wide area surveillance • Cooperative tracking of objects E. Menegatti - Cooperative Distributed Vision for Mobile Robots

  4. Previous Works • Cooperative Distributed Vision [1999] • T. Matsuyama at Kyoto University (Japan) • Distributed Vision System (DVS) [1997] • H. Ishiguro at Wakayama University (Japan) E. Menegatti - Cooperative Distributed Vision for Mobile Robots

  5. A simple room Uniform background A big box 4 Fixed Viewpoint PTZ cameras Task: Track a radio controlled car or two people The CDV testbed E. Menegatti - Cooperative Distributed Vision for Mobile Robots

  6. CDV limitations • Expensive hardware for Fixed Viewpoint camera • Appearance Plane • Active cameras but static image processing • Very simple vision algorithm • No implementation for mobile robots E. Menegatti - Cooperative Distributed Vision for Mobile Robots

  7. The DVS testbed • A toy town • Outdoor-like lighting • 2non-autonomous robots • 16 VAs Task: Navigate two mobile robots in the town E. Menegatti - Cooperative Distributed Vision for Mobile Robots

  8. DVS limitations • No moving cameras • Need teaching phase • Robot is not autonomous • Very simple vision algorithm E. Menegatti - Cooperative Distributed Vision for Mobile Robots

  9. The Heterogeneous Team The Artisti Veneti RoboCup Team E. Menegatti - Cooperative Distributed Vision for Mobile Robots

  10. Two Vision Agents on a Robot • Vision Agent • Omnidirectional Vision Agent (OVA) • Perspective Vision Agent (PVA) Task: Detect and Locate E. Menegatti - Cooperative Distributed Vision for Mobile Robots

  11. Agents’ Views OVA’s view PVA’s view E. Menegatti - Cooperative Distributed Vision for Mobile Robots

  12. Cooperative Object Tracking • Cooperative Object Tracking Protocol [Matsuyama 1999] (NO Mobile Robots!!!) • Agency and Agency’s Master • A measure of uncertainty yabs = ysl+ yrel E. Menegatti - Cooperative Distributed Vision for Mobile Robots

  13. Conclusion • The Cooperative Distributed Vision idea • Two realisations • We presented our researches on this topic: • Two VAs on a robot • Cooperative Object Tracking E. Menegatti - Cooperative Distributed Vision for Mobile Robots

More Related