1. 1 ShareCam Part I: Interface, System Architecture, and Implementation of a Collaboratively Controlled Robotic Webcam Dezhen Song Ken Goldberg UC Berkeley Supported in part by the National Science Foundation

2. 2 Robot System Taxonomy (Tanie, Matsuhira, Chong 00) Single Operator, Single Robot (SOSR): Single Operator, Multiple Robot (SOMR): Multiple Operator, Multiple Robot (MOMR): Multiple Operator, Single Robot (MOSR):

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4. 4 Contents Related work System Architecture & hardware Software Experiment Conclusion

5. 5 Related Work Recent Online robots –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)

6. 6 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)

7. 7 Related Work The “Tele-Actor”: Remote Environment Operators

8. 8 System Architecture & Hardware Users Internet ShareCam Server Video Server Canon VCC3 Robotic Camera Dual 2.4 Ghz Intel Xeon 1.2 GB RAM T3 Link AMD K7 1Ghz 1GB RAM T3 Link Pan: -90~+90 degrees Title +30~-25 degrees Zoom: 12X leans Max Speed: 76 degrees/sec. Resolution: 380,000 pix.

9. 9 Software diagram User database Registration MySQL PERL

10. 10 Software diagram User database Registration Core (with shared memory segments) Console/Log Login CGI User1: … User2: … User3: … Gnu C++

11. 11 Software diagram User database Registration Core (with shared memory segments) Apache module Console/Log Login CGI ShareCam web server ShareCam applet Client HTTP Java

12. 12 Software diagram TCP/IP User database Registration Core (with shared memory segments) Apache module Console/Log Login CGI ShareCam web server ShareCam applet InetCam applet Client HTTP InetCam server Video server Third Party

13. 13 Software diagram TCP/IP User database Registration Core (with shared memory segments) 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 Visual C++

14. 14 Problem Definition User request frame and candidate frame r i : User i’s requested frame c: Candidate frame

15. 15 Problem Definition User i’s satisfaction s i (c, r i ) Total satisfaction Find the optimal frame

16. 16 Memoryless Frame Selection Vs. Temporal Frame Selection Memoryless Frame Selection (n users) Temporal Frame Selection (time t)

17. 17 Experiments - Memoryless Frame Selection Vs. Temporal Frame Selection Memoryless Frame Selection t

18. 18 Experiments - Memoryless Frame Selection Vs. Temporal Frame Selection Temporal Frame Selection t

19. 19 Experiments – Online Testing Sep. 2002 – Jun. 2003 (Alpha Lab, UC Berkeley)  Data collected between Sep. 2002 and Feb. 2003  4822 Requested frames

20. 20 Experiments – Online Testing Jun. 2003 – –Evans Hall, UC Berkeley –Renamed as “co-opticon” –4+ Months –600+ registered users –26,000+ requested frames –Not a single crash!

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23. 23 www.co-opticon.net