Sharing a vision : systems and algorithms for collaboratively-teleoperated robotic cameras / Dezhen Song.

Format:

Book

Author/Creator:

Song, Dezhen.

Series:

Springer tracts in advanced robotics ; v. 51.

Springer tracts in advanced robotics ; v. 51

Language:

English

Subjects (All):

Robot camera.

Command and control systems.

Robotics.

Physical Description:

xix, 186 pages : illustrations ; 25 cm.

Place of Publication:

Berlin : Springer, [2009]

Summary:

The Springer Tracts in Advanced Robotics (Star) publishes new developments and advances in the fields of robotics research - rapidly and informally but with a high quality. The intent is to cover all the technical topics, applications, and multidisciplinary aspects of robotics, embedded in the fields of Mechanical Engineering, Computer Science, Electrical Engineering, Mechatronics, Control, and Life Sciences - as well as the methodologies behind them. Within the scope of the series are monographs, lecture notes, selected contributions from specialized conferences and workshops, as well as selected PhD theses.

Sharing a Vision

The monograph written by Dezhen Song is focused on a robotic camera simultaneously controlled by multiple online users via the Internet. A challenging match between the collaboratively tele-operated robotic cameras and the needs from nature environment observation is sought, which greatly extends the domain of online robots in both application and technology, development directions, including building construction site monitoring, public space surveillance, and distance education. New solutions are proposed which demonstrate the enormous potential of Internet-based infrastructures for immediate success in the market.

Contents:

1 Introduction 1

1.1 Tele-operation 1

1.2 Networked Telerobots 2

1.3 Web Cameras 4

1.4 Collaborative Telerobot 5

1.4.1 What Is a Collaborative Telerobot? 5

1.4.2 History of Collaborative Telerobots 6

1.4.3 Characteristics of CT Systems 8

1.5 Organization of the Book 9

Part I Systems

2 The Co-Opticon System: Interface, System Architecture, and Implementation of a Collaboratively Controlled Robotic Webcam 13

2.1 Introduction 13

2.2 The Co-Opticon Interface 14

2.3 Hardware 14

2.4 Software 15

2.5 Frame Selection Models 17

2.5.1 Memoryles Frame Selection Model 17

2.5.2 Temporal Frame Selection Model 17

2.5.3 Experiments 19

2.5.4 Field Tests 20

2.6 Conclusions 21

3 The Tele-Actor System: Collaborative Teleoperation Using Networked Spatial Dynamic Voting 23

3.1 Introduction 23

3.2 System Architecture 25

3.3 SDV User Interface 25

3.4 Hardware and Software 29

3.4.1 Version 3.0 (July 18, 2001) 29

3.4.2 Version 9.0 (July 25, 2002) 30

3.5 Problem Definition and Algorithms 33

3.5.1 Problem Definition 33

3.5.2 Ensemble Consensus Region 34

3.5.3 Collaboration Metric 34

3.6 Online Field Tests 36

3.7 Conclusions 36

3.8 Closure 37

Part II Algorithms

4 Exact Frame Selection Algorithms for Agile Satellites 41

4.1 Introduction 41

4.2 Related Work 43

4.3 Problem Definition 44

4.3.1 Inputs and Assumptions 44

4.3.2 Reward Metric 48

4.3.3 Properties of the CRR Reward Metric 50

4.3.4 Comparison with "Similarity Metrics" 51

4.4 Algorithms 53

4.4.1 Base Vertices and Plateau Vertices 53

4.4.2 Algorithms for Discrete Resolutions 56

4.4.3 Algorithms for Continuous Resolution 57

4.5 Results 66

4.6 Conclusions and Future Work 69

5 Approximate and Distributed Algorithms for a Collaboratively Controlled Robotic Webcam 71

5.1 Introduction 71

5.2 Problem Definition 72

5.3 Algorithms 74

5.3.1 Algorithm I: Exhaustive Lattice Search 74

5.3.2 Algorithm II: BnB Implementation 81

5.4 Experiments 84

5.4.1 Numerical Experiments 84

5.4.2 Field Tests 86

5.5 Conclusions 87

6 An Approximation Algorithm for the Least Overlapping p-Frame Problem with Non-Partial Coverage for Networked Robotic Cameras 89

6.1 Introduction 89

6.2 Related Work 90

6.3 Problem Definition 91

6.3.1 Input and Output 91

6.3.2 Nomenclature 91

6.3.3 Assumptions 92

6.3.4 Satisfaction Metric 92

6.3.5 Problem Formulation 93

6.4 Algorithm 94

6.4.1 Construction of Lattice 94

6.4.2 Virtual Non-Overlapping Condition 95

6.4.3 Approximation Solution Bound 96

6.4.4 Lattice-Based Algorithm 97

6.5 Experimental Results 99

6.6 Conclusion and Future Work 102

7 Unsupervised Scoring for Scalable Internet-Based Collaborative Teleoperation 103

7.1 Introduction 103

7.2 Related Work 105

7.3 Problem Definition 106

7.3.1 Inputs and Assumptions 106

7.3.2 Unsupervised Scoring Metric 108

7.4 Distributed Algorithm 109

7.5 The "Tele-Twister" Application 110

7.6 Conclusion and Future Work 112

7.7 Closure 113

Part III Deployment

8 Projection Invariants for Pan-Tilt-Zoom Robotic Cameras 117

8.1 Introduction 117

8.2 Related Work 118

8.3 Problem Definition 120

8.3.1 Assumptions 120

8.3.2 Nomenclature 120

8.3.3 Perspective Projection and Re-projection for a PTZ Camera 121

8.3.4 Definition of Projection Invariants 122

8.4 Projection Invariants 122

8.4.1 Projection Invariants and Re-projection 122

8.4.2 Spherical Wrapping 124

8.4.3 Spherical Re-Projection (SRP) 125

8.4.4 Projection Invariants for SRP 126

8.5 Application: Image Alignment Problem 130

8.5.1 Problem Description and Existing Methods 131

8.5.2 Projection Invariant-Based Image Alignment Algorithm 132

8.5.3 Experiments and Results 133

8.5.4 Speed Test 134

8.5.5 Application in Panorama Construction 135

8.6 Conclusion and Future Work 137

9 Calibration Algorithms for Panorama-Based Camera Control 139

9.1 Introduction 139

9.2 Related Work 140

9.3 Assumptions and Nomenclature 142

9.4 Calibration Scheme 143

9.4.1 Problem Definition 143

9.4.2 Calibration Technique 145

9.4.3 Calibration Accuracy Analysis 148

9.5 Experiments 149

9.6 Conclusions and Future Work 151

10 On-Demand Sharing of a High-Resolution Panorama Video from Networked Robotic Cameras 153

10.1 Introduction 153

10.2 Related Work 155

10.3 System Architecture 156

10.3.1 Evolving Panorama 157

10.3.2 Understanding User Requests 158

10.4 Data Representation and Algorithms 159

10.4.1 Patch-Based Evolving Panorama Video Representation 159

10.4.2 Frame Insertion Algorithm 159

10.4.3 User Query Algorithm 160

10.5 Experiments and Results 161

10.6 Conclusion and Future Work 163

11 Conclusions and Future Work 165

11.1 Contributions 165

11.1.1 Challenges Identified in CT Systems 165

11.1.2 Formulation of CTRC Problems and Metrics 166

11.1.3 Algorithms 166

11.1.4 System Development and Experiments 167

11.2 Future Work 169

11.2.1 Big Picture 169

11.2.2 Extensions of Frame Selection Problems 169

11.2.3 Another Viewpoint on Future Work 170.

Notes:

Includes bibliographical references (pages [173]-184) and index.

ISBN:

9783540880646

354088064X

OCLC:

269435329

Publisher Number:

12280759