Cooperative Distributed Vision for Mobile Robots

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Cooperative Distributed Vision for Mobile Robots

• E. Menegatti and E. Pagello
• IAS-Lab

Dept. of Electronics and Informatics
The University of Padua Italy
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Presentations Outline

• Whats Distributed Vision
• Previous works
• Our projects
• Two Vision Agents on a Robot
• Cooperative Object Tracking with Mobile Robots

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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

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Previous Works

• Cooperative Distributed Vision 1999
• T. Matsuyama at Kyoto University (Japan)
• Distributed Vision System (DVS) 1997
• H. Ishiguro at Wakayama University (Japan)

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The CDV testbed

• A simple room
• Uniform background
• A big box
• 4 Fixed Viewpoint PTZ cameras
• Task
• Track a radio controlled car or two people

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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

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The DVS testbed

• A toy town
• Outdoor-like lighting
• 2 non-autonomous robots
• 16 VAs
• Task
• Navigate two mobile robots in the town

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DVS limitations

• No moving cameras
• Need teaching phase
• Robot is not autonomous
• Very simple vision algorithm

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The Heterogeneous Team
The Artisti Veneti RoboCup Team
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Two Vision Agents on a Robot

• Vision Agent
• Omnidirectional Vision Agent (OVA)
• Perspective Vision Agent (PVA)
• Task
• Detect and Locate

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Agents Views
OVAs view
PVAs view
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Cooperative Object Tracking

• Cooperative Object Tracking Protocol Matsuyama
  1999
• (NO Mobile Robots!!!)
• Agency and Agencys Master
• A measure of uncertainty
• yabs ysl yrel

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Conclusion

• The Cooperative Distributed Vision idea
• Two realisations
• We presented our researches on this topic
• Two VAs on a robot
• Cooperative Object Tracking