DocumentCode :
2471689
Title :
Development of a stereo vision system for remotely operated robots: A control and video streaming architecture
Author :
Amanatiadis, A. ; Gasteratos, A. ; Georgoulas, C. ; Kotoulas, L. ; Andreadis, I.
Author_Institution :
Dept. of Electr. & Comput. Eng., Democritus Univ. of Thrace, Xanthi
fYear :
2008
fDate :
14-16 July 2008
Firstpage :
14
Lastpage :
19
Abstract :
This paper describes the open and flexible architecture of a stereo vision system prototype, using open source software. The system is designed for teleoperated robots and includes a four degrees of freedom stereo head mechanism, a pair of high performance digital cameras, a head tracker and a head mounted display. All processes for the head control and video streaming are performed in Linux-based Real-time Operating Systems using open source libraries under GPL license. Experimental results showed that our system is capable of satisfying the hard-real time requirements for the head control, with great precision, and a low latency for the stereo video streaming. The video streaming management is particularly sophisticated resulting in a flexible, efficient and reliable service.
Keywords :
Linux; public domain software; real-time systems; robot programming; software architecture; stereo image processing; telerobotics; GPL license; Linux; open source libraries; open source software; real-time operating systems; remotely operated robots; stereo vision system; teleoperated robots; video streaming architecture; Computer architecture; Control systems; Digital cameras; Displays; Open source software; Robot control; Robot vision systems; Software prototyping; Stereo vision; Streaming media; Human-Machine Interaction; Open-Source Programming; Real-Time Remote Control; Telerobotic Vision;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Virtual Environments, Human-Computer Interfaces and Measurement Systems, 2008. VECIMS 2008. IEEE Conference on
Conference_Location :
Istanbul
Print_ISBN :
978-1-4244-1927-2
Electronic_ISBN :
978-1-4244-1928-9
Type :
conf
DOI :
10.1109/VECIMS.2008.4592745
Filename :
4592745
Link To Document :
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