ShareCam: erface, System Architecture, and Implementation of 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
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ShareCam: Interface, System Architecture, and Implementation of a Collaboratively Controlled Robotic Webcam Dezhen Song (TAMU) and Ken Goldberg (UC Berkeley)
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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 SystemsFinalist for New Technology Foundation (NTF) Award for
– 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)
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)
Sharecam: System Architecture
Users
Internet
ShareCam Server
Video Server
Sharecam Software
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
Java
Gnu C++
PERL
MySQL
frame selection problem: given n requests, find optimal frame
Problem Definition
Requested frames: i=[xi, yi, zi], i=1,…,n
Problem Definition• “Satisfaction” for frame i: 0 Si
Networked robots Systems that couple communication to control of one or more robots in a network that often includes sensors and remote human operators.
Two subclasses : 1) Tele-operated, where human supervisors send commands
and receive feedback via the network. Such systems support research, education, and public awareness by making valuable resources accessible to broad audiences.
2) Autonomous, where robots and sensors exchange data via the network. In such systems, the network extends the effective sensing range of individual robots.
Challenges:
1. Variable Time Delays, Congestion
2. Latency
3. Access Control, Security, Interfaces
4. Protocol Design
5. Noise, Error Detection and Recovery
6. Deployment, Dynamic Routing
7. Power Management
8. Hybrid Architectures
Conventional Security Cameras
• Immobile or Repetitive Sweep• Low resolution
Future Work
• Continuous zoom (m=)• Multiple outputs:
– p cameras – p views from one camera
• “Temporal” version: fairness– Integrate si over time: minimize accumulated
dissatisfaction for any user
• Network / Client Variability: load balancing
• Obstacle Avoidance
Outline
• Collaborative Teleoperation
• Cinematrix• Co-opticon• Tele-Twister
"In times of terror, when everyone is something of a conspirator,everyone will be in a situation where he has to play detective." -- Walter Benjamin (1938)
Statistics of Satellite Imaging
• 2.5 Billion Market in 2003• Increasing 300% per year
since 1999• Major clients
– Government / Military– Oil exploration– Weather Prediction– Agriculture