logging in or signing up emgAIIA01 Charlo Download Post to : URL : Related Presentations : Share Add to Flag Embed Email Send to Blogs and Networks Add to Channel Uploaded from authorPOINTLite Insert YouTube videos in PowerPont slides with aS Desktop Copy embed code: (To copy code, click on the text box) Embed: URL: Thumbnail: WordPress Embed Customize Embed The presentation is successfully added In Your Favorites. Views: 38 Category: Entertainment License: All Rights Reserved Like it (0) Dislike it (0) Added: January 07, 2008 This Presentation is Public Favorites: 0 Presentation Description No description available. Comments Posting comment... Premium member Presentation Transcript Cooperative Distributed Vision for Mobile Robots: Cooperative Distributed Vision for Mobile Robots E. Menegatti and E. Pagello IAS-Lab Dept. of Electronics and Informatics The University of Padua ItalyPresentation’s Outline: Presentation’s Outline What’s Distributed Vision Previous works Our projects: Two Vision Agents on a Robot Cooperative Object Tracking with Mobile RobotsDistributed Vision: 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 objectsPrevious Works: Previous Works Cooperative Distributed Vision [1999] T. Matsuyama at Kyoto University (Japan) Distributed Vision System (DVS) [1997] H. Ishiguro at Wakayama University (Japan)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 The CDV testbedCDV limitations : 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 The DVS testbed: The DVS testbed A toy town Outdoor-like lighting 2 non-autonomous robots 16 VAs Task: Navigate two mobile robots in the town DVS limitations: DVS limitations No moving cameras Need teaching phase Robot is not autonomous Very simple vision algorithm The Heterogeneous Team: The Heterogeneous Team The Artisti Veneti RoboCup TeamTwo Vision Agents on a Robot: Two Vision Agents on a Robot Vision Agent Omnidirectional Vision Agent (OVA) Perspective Vision Agent (PVA) Task: Detect and LocateAgents’ Views: Agents’ Views OVA’s view PVA’s viewCooperative Object Tracking: Cooperative Object Tracking Cooperative Object Tracking Protocol [Matsuyama 1999] (NO Mobile Robots!!!) Agency and Agency’s Master A measure of uncertainty yabs = ysl+ yrelConclusion: Conclusion The Cooperative Distributed Vision idea Two realisations We presented our researches on this topic: Two VAs on a robot Cooperative Object Tracking You do not have the permission to view this presentation. In order to view it, please contact the author of the presentation.
emgAIIA01 Charlo Download Post to : URL : Related Presentations : Share Add to Flag Embed Email Send to Blogs and Networks Add to Channel Uploaded from authorPOINTLite Insert YouTube videos in PowerPont slides with aS Desktop Copy embed code: (To copy code, click on the text box) Embed: URL: Thumbnail: WordPress Embed Customize Embed The presentation is successfully added In Your Favorites. Views: 38 Category: Entertainment License: All Rights Reserved Like it (0) Dislike it (0) Added: January 07, 2008 This Presentation is Public Favorites: 0 Presentation Description No description available. Comments Posting comment... Premium member Presentation Transcript Cooperative Distributed Vision for Mobile Robots: Cooperative Distributed Vision for Mobile Robots E. Menegatti and E. Pagello IAS-Lab Dept. of Electronics and Informatics The University of Padua ItalyPresentation’s Outline: Presentation’s Outline What’s Distributed Vision Previous works Our projects: Two Vision Agents on a Robot Cooperative Object Tracking with Mobile RobotsDistributed Vision: 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 objectsPrevious Works: Previous Works Cooperative Distributed Vision [1999] T. Matsuyama at Kyoto University (Japan) Distributed Vision System (DVS) [1997] H. Ishiguro at Wakayama University (Japan)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 The CDV testbedCDV limitations : 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 The DVS testbed: The DVS testbed A toy town Outdoor-like lighting 2 non-autonomous robots 16 VAs Task: Navigate two mobile robots in the town DVS limitations: DVS limitations No moving cameras Need teaching phase Robot is not autonomous Very simple vision algorithm The Heterogeneous Team: The Heterogeneous Team The Artisti Veneti RoboCup TeamTwo Vision Agents on a Robot: Two Vision Agents on a Robot Vision Agent Omnidirectional Vision Agent (OVA) Perspective Vision Agent (PVA) Task: Detect and LocateAgents’ Views: Agents’ Views OVA’s view PVA’s viewCooperative Object Tracking: Cooperative Object Tracking Cooperative Object Tracking Protocol [Matsuyama 1999] (NO Mobile Robots!!!) Agency and Agency’s Master A measure of uncertainty yabs = ysl+ yrelConclusion: Conclusion The Cooperative Distributed Vision idea Two realisations We presented our researches on this topic: Two VAs on a robot Cooperative Object Tracking