Dezhen Song Ken Goldberg UC Berkeley

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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

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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):

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Contents

• Related work

• System Architecture & hardware

• Software

• Experiment

• Conclusion

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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)

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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)

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Related Work The “Tele-Actor”:

RemoteEnvironment

Operators

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System Architecture & Hardware

Users

Internet

ShareCam Server

Video Server

Canon VCC3 Robotic Camera

Dual 2.4 Ghz Intel Xeon

1.2 GB RAMT3 Link

AMD K7 1Ghz1GB RAM

T3 Link

Pan: -90~+90 degreesTitle +30~-25 degrees

Zoom: 12X leansMax Speed: 76

degrees/sec.Resolution: 380,000 pix.

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Software diagram

User database

RegistrationMySQL

PERL

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Software diagram

User database

RegistrationCore (with shared memory segments)

Console/Log Login CGI

User1: …User2: …User3: …

Gnu C++

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Software diagram

User database

RegistrationCore (with shared memory segments)

Apache module

Apache module

Apache module

Console/Log Login CGI

ShareCam web server

ShareCam applet

Client

HTTP

Java

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Software diagram

TCP/IP

User database

RegistrationCore (with shared memory segments)

Apache module

Apache module

Apache module

Console/Log Login CGI

ShareCam web server

ShareCam applet InetCam applet

Client

HTTP

InetCam server

Video server

Third Party

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Software diagram

TCP/IP

TCP/IP

User database

RegistrationCore (with shared memory segments)

Apache module

Apache module

Apache module

Communication

Console/Log Login CGI

ShareCam web server

ShareCam applet InetCam applet

Client

RS232C

HTTP

Camera control

Calibration

Panoramic image generation

InetCam server

Video server

Canon VC-C3 Camera

Visual C++

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Problem Definition

• User request frame and candidate frame

ri: User i’s requested frame

c: Candidate frame

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Problem Definition

• User i’s satisfaction si(c, ri)

• Total satisfaction

• Find the optimal frame

n

iircscs

1

),()(

1,

)(

)(min

)(

)(),(

csize

rsize

rArea

crArearcs i

i

iii

n

iii

crcscs

1

),()( max

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Memoryless Frame Selection Vs. Temporal Frame Selection

• Memoryless Frame Selection (n users)

• Temporal Frame Selection (time t)

n

iii

crcscs

1

),()( max

n

iiii

ctrtcsttcs

1

))(),(()(),(max

))(),((1)(

2/)1()1()(* trtcstu

ttut

iit

iii

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Experiments - Memoryless Frame Selection Vs. Temporal Frame Selection

• Memoryless Frame Selection

t

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Experiments - Memoryless Frame Selection Vs. Temporal Frame Selection

• Temporal Frame Selection

t

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Experiments – Online Testing• Sep. 2002 – Jun. 2003 (Alpha Lab, UC Berkeley)

Data collected between Sep. 2002 and Feb. 2003

4822 Requested frames

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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!

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www.co-opticon.net