.png){kind=icon}
返回
Distributed Camera Subsystem for Obstacle Detection
.png){kind=icon}
OA
AI
DOI：10.3390/s22124588.png)
.png){kind=icon}
.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
This work focuses on improving a camera system for sensing a workspace in which dynamic obstacles need to be detected. The currently available state-of-the-art solution (MoveIt!) processes data in a centralized manner from cameras that have to be registered before the system starts. Our solution enables distributed data processing and dynamic change in the number of sensors at runtime. The distributed camera data processing is implemented using a dedicated control unit on which the filtering is performed by comparing the real and expected depth images. Measurements of the processing speed of all sensor data into a global voxel map were compared between the centralized system (MoveIt!) and the new distributed system as part of a performance benchmark. The distributed system is more flexible in terms of sensitivity to a number of cameras, better framerate stability and the possibility of changing the camera number on the go. The effects of voxel grid size and camera resolution were also compared during the benchmark, where the distributed system showed better results. Finally, the overhead of data transmission in the network was discussed where the distributed system is considerably more efficient. The decentralized system proves to be faster by 38.7% with one camera and 71.5% with four cameras.
Keyword:
human-robot interaction
collaboration
workspace monitoring
distributed processing
sensors network
obstacles detection
AI总结
对已上传原文的论文进行重点信息的提取，主要内容包括：简要概述、研究摘要、背景介绍、关键亮点、图文解析、展望与总结。
期刊
IF:
3.5
论文数:
7.2W
被引数:
20.9W
机构
引用论文
Induction of a cellular immune response to a defined T-cell epitope as an insert in the flagellin of a live vaccine strain of Salmonella.png)
VaccineOAAI
VaccineIF0
OAAI分享收藏Chromism of three complexes derived from 1-butyl-4,4′-bipyridinium ligand and 1,3,5-benzenetricarboxylic acidPolyhedron
PolyhedronIF0
PREAI
分享收藏
查看更多内容