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ShareCam: Interface, System Architecture, and Implementation of a

ShareCam: Interface, System Architecture, and Implementation of a Collaboratively Controlled Robotic Webcam. Dezhen Song (TAMU) and Ken Goldberg (UC Berkeley). IEEE/RSJ International Conference on Intelligent Robots and Systems Finalist for New Technology Foundation (NTF) Award for

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ShareCam: Interface, System Architecture, and Implementation of a

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  1. ShareCam: Interface, System Architecture, and Implementation of a Collaboratively Controlled Robotic Webcam Dezhen Song (TAMU) and Ken Goldberg (UC Berkeley) IEEE/RSJ International Conference on Intelligent Robots and Systems Finalist for New Technology Foundation (NTF) Award for Entertainment Robots and Systems

  2. Teleoperation: Related Work • Tesla, 1898 • Goertz, ‘54 • Mosher, ‘64 • Tomovic, ‘69 • Salisbury,Bejczy, ‘85 • Ballard, ’86 • Volz, ’87- • Sheridan, ‘92 • Sato, ’94 • Goldberg, ’94- • Presence Journal ‘92- • O. Khatib, et al. ’96

  3. Internet

  4. networked robot:

  5. Taxonomy (Tanie, Matsuhira, Chong 00) Single Operator, Single Robot (SOSR): Single Operator, Multiple Robot (MOSR): Multiple Operator, Single Robot (MOSR):

  6. sharecam Pan, Tilt, Zoom robotic video camera

  7. Entertainment Applications

  8. Playing Games

  9. Related Work • Networked 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)

  10. 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)

  11. Sharecam: System Architecture Users ShareCam Server Internet Video Server

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

  13. frame selection problem: given n requests, find optimal frame

  14. Problem Definition Requested frames: i=[xi, yi, zi], i=1,…,n

  15. Problem Definition • “Satisfaction” for frame i: 0  Si  1  =   i  = i Si = 0 Si = 1

  16. Similarity Metrics • Symmetric Difference • Intersection-Over-Union Nonlinear functions of (x,y)

  17. Intersection over Maximum: Requested frame i , Area= ai Candidate frame  Area = a pi

  18. global satisfaction: for fixed z find  * = arg max S()

  19. y x approximation Compute S(x,y) at lattice of sample points: d w, h : width and height, g: size range

  20. error bound c* Optimal frame • Smallest frame on lattice that enclosesc* run time: O(n /  3 ) Optimal at lattice

  21. frame selection algorithms Processing Zoom Type Complexity Centralized Discrete Exact O(n2) Centralized Discrete Approx O(nk log(nk)), k=(log(1/ε)/ε)2 Centralized Contin. Exact O(n3) Centralized Contin. Approx O((n + 1/3) log2n) Distributed Discrete Exact O(n), Client: O(n) Distributed Contin. Approx O(n), Client O(1/3)

  22. ShareCam Application: Game based learning : global environment

  23. Collaborative Observatories for Natural Environments (CONEs) sensor networks humans: amateurs and profs. timed checks robotic video cameras motion sensors

  24. Thank you. ShareCam: Interface, System Architecture, and Implementation of a Collaboratively Controlled Robotic Webcam Frank van der Stappen (CS, Utrecht) Vladlen Koltun (EECS, UC Berkeley) George Bekey (CS, USC) Karl Bohringer (CS, UW) Anatoly Pashkevich (Informatics, Belarus) Judith Donath (Media Lab, MIT) Eric Paulos (Intel Research Lab, Berkeley) Dana Plautz (Intel Research Lab, Oregon) Sariel Har-Peled (CS, UIUC)

  25. Satellite Imaging

  26. MIT Press, 2002

  27. Networked Robots • Tele-Operation • Internet Tele-Operation • Collaborative Tele-Operation • Tele-Actor • Co-Opticon • Co-Opticon Algorithms www.ken.goldberg.net

  28. Infiltrate

  29. Networked Robots

  30. internet tele-robot:

  31. RoboMotes: Gaurav S. Sukhatme, USC

  32. Smart Dust: Kris Pister, UCB (Image: Kenn Brown)

  33. Networked Cameras

  34. Where to look?

  35. Sensornet detects activity • Activity localization • “Motecams” • Other sensors: audio, pressure switches, light beams, IR, etc • Generate bounding boxes and motion vectors • Transmit to PZT camera

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