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Cooperative Distributed Vision for Mobile Robots

Cooperative Distributed Vision for Mobile Robots. E. Menegatti and E. Pagello IAS-Lab. Dept. of Electronics and Informatics. The University of Padua Italy. Presentation’s Outline. What’s Distributed Vision Previous works Our projects: Two Vision Agents on a Robot

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Cooperative Distributed Vision for Mobile Robots

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  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

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