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Cooperative Distributed Cooperative Distributed Vision for Mobile RobotsVision for Mobile Robots
E. MenegattiE. Menegatti and and E. PagelloE. PagelloIAS-LabIAS-Lab
Dept. of Dept. of Electronics and Electronics and
InformaticsInformaticsThe University of The University of
Padua ItalyPadua Italy
E. Menegatti - Cooperative Distributed Vision for Mobile Robots
Presentation’s OutlinePresentation’s Outline
What’s Distributed VisionWhat’s Distributed Vision Previous worksPrevious works Our projects:Our projects:
– Two Vision Agents on a RobotTwo Vision Agents on a Robot– Cooperative Object Tracking with Cooperative Object Tracking with
Mobile RobotsMobile Robots
E. Menegatti - Cooperative Distributed Vision for Mobile Robots
Distributed VisionDistributed Vision
What is it?What is it?It is a set of vision It is a set of vision systemssystems
embedded in the embedded in the environment and environment and connected by a networkconnected by a network
DV tasks?DV tasks?– Real time wide area Real time wide area
surveillancesurveillance– Cooperative tracking Cooperative tracking
of objectof objectss
E. Menegatti - Cooperative Distributed Vision for Mobile Robots
Previous WorksPrevious Works
Cooperative Distributed Vision [1999]Cooperative Distributed Vision [1999]– TT.. Matsuyama Matsuyama aat Kyoto University (Japan)t Kyoto University (Japan)
Distributed Vision System (DVS) [1997]Distributed Vision System (DVS) [1997]– H. Ishiguro at Wakayama University (Japan)H. Ishiguro at Wakayama University (Japan)
E. Menegatti - Cooperative Distributed Vision for Mobile Robots
A simple roomA simple room Uniform backgroundUniform background A big boxA big box 4 Fixed Viewpoint 4 Fixed Viewpoint
PTZ camerasPTZ cameras
Task:Task:
Track a radio Track a radio controlled car or two controlled car or two peoplepeople
The CDV testbedThe CDV testbed
E. Menegatti - Cooperative Distributed Vision for Mobile Robots
CDCDV limitationsV limitations Expensive hardware for Fixed Viewpoint Expensive hardware for Fixed Viewpoint
cameracamera Appearance PlaneAppearance Plane Active cameras but static image Active cameras but static image
processingprocessing Very simple vision algorithmVery simple vision algorithm No implementation for mobile robotNo implementation for mobile robotss
E. Menegatti - Cooperative Distributed Vision for Mobile Robots
The DVS testbedThe DVS testbed
A toy townA toy town OOutdoor-like utdoor-like
lightinglighting 22 non-autonomous non-autonomous
robotsrobots 16 V16 VAAss
Task:Task:
Navigate two mobile Navigate two mobile robots in the townrobots in the town
E. Menegatti - Cooperative Distributed Vision for Mobile Robots
DVS limitationsDVS limitations
No moving camerasNo moving cameras Need teaching phaseNeed teaching phase Robot is not autonomousRobot is not autonomous Very simple vision algorithmVery simple vision algorithm
E. Menegatti - Cooperative Distributed Vision for Mobile Robots
The Heterogeneous TeamThe Heterogeneous Team
The The Artisti VenetiArtisti Veneti RoboCup Team RoboCup Team
E. Menegatti - Cooperative Distributed Vision for Mobile Robots
Two Vision Agents on a Two Vision Agents on a RobotRobot
Vision AgentVision Agent Omnidirectional Vision Agent Omnidirectional Vision Agent
(OVA)(OVA) Perspective Vision Agent (PVA)Perspective Vision Agent (PVA)
Task:Task:
Detect and LocateDetect and Locate
E. Menegatti - Cooperative Distributed Vision for Mobile Robots
Agents’ ViewsAgents’ Views
OVA’s viewOVA’s view PVA’s viewPVA’s view
E. Menegatti - Cooperative Distributed Vision for Mobile Robots
Cooperative Object Cooperative Object TrackingTracking
Cooperative Object Tracking Cooperative Object Tracking Protocol [Matsuyama 1999] Protocol [Matsuyama 1999]
(NO Mobile Robots!!!)(NO Mobile Robots!!!) Agency and Agency’s MasterAgency and Agency’s Master A measure of uncertaintyA measure of uncertainty
absabsslslrelrel
E. Menegatti - Cooperative Distributed Vision for Mobile Robots
ConclusionConclusion
The Cooperative Distributed Vision The Cooperative Distributed Vision ideaidea
Two realisationsTwo realisations
We We presented our researches on presented our researches on this topic:this topic:
– Two VAs on a robotTwo VAs on a robot
– Cooperative Object TrackingCooperative Object Tracking