Distributed Camera Subsystem for Obstacle Detection

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Distributed Camera Subsystem for Obstacle Detection

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Distributed Camera Subsystem for Obstacle Detection

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/EF17_049%2F0008425" target="_blank" >EF17_049/0008425: Platforma pro výzkum orientovaný na Průmysl 4.0 a robotiku v ostravské aglomeraci</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2022

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Sensors

ISSN

1424-3210

e-ISSN

1424-8220

Svazek periodika

22

Číslo periodika v rámci svazku

12

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

18

Strana od-do

1-18

Kód UT WoS článku

000816285400001

EID výsledku v databázi Scopus

2-s2.0-85132287264