A distributed robotic vision service

William Chamberlain, Jurgen Leitner, Tom Drummond, Peter Corke
2016 2016 IEEE International Conference on Robotics and Automation (ICRA)  
Robotic vision is limited by line of sight and onboard 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 taskspecific
more » ... 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.
doi:10.1109/icra.2016.7487403 dblp:conf/icra/ChamberlainLDC16 fatcat:2btxkznzibfozltyjbb74ml67u