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Dezhen Song Ken Goldberg UC Berkeley

ShareCam Part I: Interface, System Architecture, and Implementation of a Collaboratively Controlled Robotic Webcam. Dezhen Song Ken Goldberg UC Berkeley. Supported in part by the National Science Foundation. Robot System Taxonomy (Tanie, Matsuhira, Chong 00).

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Dezhen Song Ken Goldberg UC Berkeley

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  1. ShareCam Part I: Interface, System Architecture, andImplementation of a Collaboratively Controlled Robotic Webcam Dezhen Song Ken Goldberg UC Berkeley Supported in part by the National Science Foundation

  2. Robot System Taxonomy (Tanie, Matsuhira, Chong 00) Single Operator, Single Robot (SOSR): Single Operator, Multiple Robot (SOMR): Multiple Operator, Multiple Robot (MOMR): Multiple Operator, Single Robot (MOSR):

  3. Contents • Related work • System Architecture & hardware • Software • Experiment • Conclusion

  4. Related Work • Recent Online robots • Tanie, K., Chong, N. et al(01) • Jia, S. and K. Takase (01) • Hu, H., Yu, L., Tsui, P., Zhou, Q (01) • Safaric, R. et al. (01) • Goldberg and Siegwart (02) • Coppin, P. and Wagner, M.D. (02) • Konukseven, I., Erkmen, A. et al (02) • SOSR • Siegwart, R. and Saucy P. (99) • Paulos, E. and Canny, J. (99) • Tanie, K., Arai, H. et al. (00) • Lynch, K. and Liu, C. (00) • Fong, T., Thorpe, C., et al(01)

  5. Related Work • SOMR • Hu, Yu, Tsui, Zhou (01) • Jia, Takase (01) • MOMR • Fukuda, Xi, Liu, Elhajj et al. (00,02) • Tanie, Chong, et al. (00) • MOSR • Cinematrix (91) • Cannon, McDonald, et al. (97) • Goldberg, Chen, et al. (00, 01)

  6. Related Work The “Tele-Actor”: Remote Environment Operators

  7. System Architecture & Hardware ShareCam Server Users Canon VCC3 Robotic Camera AMD K7 1Ghz 1GB RAM T3 Link Pan: -90~+90 degrees Title +30~-25 degrees Zoom: 12X leans Max Speed: 76 degrees/sec. Resolution: 380,000 pix. Dual 2.4 Ghz Intel Xeon 1.2 GB RAM T3 Link Video Server Internet

  8. PERL Software diagram MySQL User database Registration

  9. User1: … User2: … User3: … Gnu C++ Software diagram Login CGI Console/Log Core (with shared memory segments) User database Registration

  10. Java Software diagram Login CGI Console/Log Core (with shared memory segments) User database Registration Apache module Apache module Apache module ShareCam web server HTTP ShareCam applet Client

  11. Third Party Software diagram Login CGI Console/Log Core (with shared memory segments) User database Registration Apache module Apache module Apache module ShareCam web server InetCam server TCP/IP HTTP Video server InetCam applet ShareCam applet Client

  12. InetCam applet ShareCam applet Visual C++ Software diagram Login CGI Console/Log Core (with shared memory segments) User database Communication Registration Apache module Apache module Apache module ShareCam web server TCP/IP Calibration Camera control InetCam server Panoramic image generation RS232C Canon VC-C3 Camera TCP/IP HTTP Video server Client

  13. Problem Definition • User request frame and candidate frame ri: User i’s requested frame c: Candidate frame

  14. Problem Definition • User i’s satisfaction si(c, ri) • Total satisfaction • Find the optimal frame

  15. Memoryless Frame Selection Vs. Temporal Frame Selection • Memoryless Frame Selection (n users) • Temporal Frame Selection (time t)

  16. Experiments - Memoryless Frame Selection Vs. Temporal Frame Selection • Memoryless Frame Selection t

  17. Experiments - Memoryless Frame Selection Vs. Temporal Frame Selection • Temporal Frame Selection t

  18. Experiments – Online Testing • Sep. 2002 – Jun. 2003 (Alpha Lab, UC Berkeley) • Data collected between Sep. 2002 and Feb. 2003 • 4822 Requested frames

  19. Experiments – Online Testing • Jun. 2003 – • Evans Hall, UC Berkeley • Renamed as “co-opticon” • 4+ Months • 600+ registered users • 26,000+ requested frames • Not a single crash!

  20. www.co-opticon.net

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