Distributed Camera Subsystem for Obstacle Detection

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27230%2F22%3A10250042" target="_blank" >RIV/61989100:27230/22:10250042 - isvavai.cz</a>
Result on the web
<a href="https://www.mdpi.com/1424-8220/22/12/4588" target="_blank" >https://www.mdpi.com/1424-8220/22/12/4588</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.3390/s22124588" target="_blank" >10.3390/s22124588</a>

Result language
angličtina
Original language name
Distributed Camera Subsystem for Obstacle Detection
Original language description
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.
Czech name
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Czech description
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Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control

Project
<a href="/en/project/EF17_049%2F0008425" target="_blank" >EF17_049/0008425: A Research Platform focused on Industry 4.0 and Robotics in Ostrava Agglomeration</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Publication year
2022
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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