Point cloud culling for robot vision tasks under communication constraints

William J. Beksi; Nikolaos Papanikolopoulos

doi:10.1109/IROS.2014.6943088

Point cloud culling for robot vision tasks under communication constraints

William J. Beksi, Nikolaos Papanikolopoulos

Computer Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

8 Scopus citations

Abstract

In this paper, we present two real-time methods for controlling data transmission in a robotic network that utilizes a remote computing infrastructure. The proposed algorithms use information and communication theory concepts to perform a highly efficient transfer of RGB-D data from a client (robot) to a server (cloud). We show that this approach makes it possible to conserve bandwidth and reduce network latency while allowing a mobile robot to perform vision tasks.

Original language	English (US)
Title of host publication	IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3747-3752
Number of pages	6
ISBN (Electronic)	9781479969340
DOIs	https://doi.org/10.1109/IROS.2014.6943088
State	Published - Oct 31 2014
Event	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States Duration: Sep 14 2014 → Sep 18 2014

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Other

Other	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Country/Territory	United States
City	Chicago
Period	9/14/14 → 9/18/14

Bibliographical note

Publisher Copyright:
© 2014 IEEE.

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10.1109/IROS.2014.6943088

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Beksi, W. J., & Papanikolopoulos, N. (2014). Point cloud culling for robot vision tasks under communication constraints. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 3747-3752). Article 6943088 (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6943088

Point cloud culling for robot vision tasks under communication constraints. / Beksi, William J.; Papanikolopoulos, Nikolaos.
IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. p. 3747-3752 6943088 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Beksi, WJ & Papanikolopoulos, N 2014, Point cloud culling for robot vision tasks under communication constraints. in IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems., 6943088, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 3747-3752, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, United States, 9/14/14. https://doi.org/10.1109/IROS.2014.6943088

Beksi WJ, Papanikolopoulos N. Point cloud culling for robot vision tasks under communication constraints. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2014. p. 3747-3752. 6943088. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2014.6943088

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Point cloud culling for robot vision tasks under communication constraints

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