Point cloud culling for robot vision tasks under communication constraints

William J. Beksi, Nikolaos P Papanikolopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

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 languageEnglish (US)
Title of host publicationIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3747-3752
Number of pages6
ISBN (Electronic)9781479969340
DOIs
StatePublished - Oct 31 2014
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: Sep 14 2014Sep 18 2014

Publication series

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

Other

Other2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
CountryUnited States
CityChicago
Period9/14/149/18/14

Fingerprint

Information theory
Computer vision
Communication
Mobile robots
Data communication systems
Robotics
Servers
Robots
Bandwidth

Cite this

Beksi, W. J., & Papanikolopoulos, N. P. (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). [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 P.

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 proceedingConference contribution

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