Cooperative Distributed Vision for Mobile Robots E. Menegatti and E. Pagello IAS-Lab Dept. of Electronics and Informatics The University of Padua Italy

E. Menegatti - Cooperative Distributed Vision for Mobile Robots Presentation’s Outline n What’s Distributed Vision n Previous works n Our projects: –Two Vision Agents on a Robot –Cooperative Object Tracking with Mobile Robots

E. Menegatti - Cooperative Distributed Vision for Mobile Robots Distributed Vision n What is it? It is a set of vision systems embedded in the environment and connected by a network n DV tasks? –Real time wide area surveillance –Cooperative tracking of objects

E. Menegatti - Cooperative Distributed Vision for Mobile Robots Previous Works n Cooperative Distributed Vision [1999] –T. Matsuyama at Kyoto University (Japan) n Distributed Vision System (DVS) [1997] –H. Ishiguro at Wakayama University (Japan)

E. Menegatti - Cooperative Distributed Vision for Mobile Robots n A simple room n Uniform background n A big box n 4 Fixed Viewpoint PTZ cameras Task: Track a radio controlled car or two people The CDV testbed

E. Menegatti - Cooperative Distributed Vision for Mobile Robots CDV limitations n Expensive hardware for Fixed Viewpoint camera n Appearance Plane n Active cameras but static image processing n Very simple vision algorithm n No implementation for mobile robots

E. Menegatti - Cooperative Distributed Vision for Mobile Robots The DVS testbed n A toy town n Outdoor-like lighting n 2 non-autonomous robots n 16 VAs Task: Navigate two mobile robots in the town

E. Menegatti - Cooperative Distributed Vision for Mobile Robots DVS limitations n No moving cameras n Need teaching phase n Robot is not autonomous n Very simple vision algorithm

E. Menegatti - Cooperative Distributed Vision for Mobile Robots The Heterogeneous Team The Artisti Veneti RoboCup Team

E. Menegatti - Cooperative Distributed Vision for Mobile Robots Two Vision Agents on a Robot n Vision Agent n Omnidirectional Vision Agent (OVA) n Perspective Vision Agent (PVA) Task: Detect and Locate

E. Menegatti - Cooperative Distributed Vision for Mobile Robots Agents’ Views OVA’s view PVA’s view

E. Menegatti - Cooperative Distributed Vision for Mobile Robots Cooperative Object Tracking n Cooperative Object Tracking Protocol [Matsuyama 1999] (NO Mobile Robots!!!) n Agency and Agency’s Master n A measure of uncertainty  abs  sl  rel

E. Menegatti - Cooperative Distributed Vision for Mobile Robots Conclusion n The Cooperative Distributed Vision idea n Two realisations n We presented our researches on this topic: –Two VAs on a robot –Cooperative Object Tracking