Functionally layered coding for robot vision network

This paper proposes a functionally layered video coding for robot vision network. Video signals from mobile robots are regularly transmitted to a remote robot. It uses the video to estimate locations of each of the mobile robots. As the need arises, a person browses the video to check the scenery. In such occasion, the functionally layered video coding regularly transmits the minimum components necessary for the motion estimation by the remote robot. For scenery browsing, only additional components are transmitted on demand. As a result, data volume to be transmitted is reduced in total. The proposed method decomposes the video into frequency bands and bit planes by means of the JPEG 2000. This report investigates the minimum components for the motion estimation in the robot to robot communication. It is confirmed that the proposed method can reduce total data volume of the robot vision network.