Systems, control models, and codec for collaborative observation of remote environments with an autonomous networked robotic camera

Abstract

Networked robotic cameras are becoming popular in remote observation applications such as natural observation, surveillance, and distance learning. Equipped with a high optical zoom lens and agile pan-tilt mechanisms, a networked robotic camera can cover a large region with various resolutions. The optimal selection of camera control parameters for competing observation requests and the ondemand delivery of video content for various spatiotemporal queries are two challenges in the design of such autonomous systems. For camera control, we introduce memoryless and temporal frame selection models that effectively enable collaborative control of the camera based on the competing inputs from in-situ sensors and users. For content delivery, we design a patch-based motion panorama representation and coding/decoding algorithms (codec) to allow efficient storage and computation. We present system architecture, frame selection models, user interface, and codec algorithms. We have implemented the system and extensively tested our design in real world applications including natural observation, public surveillance, distance learning, and building construction monitoring. Experiment results show that our frame selection models are robust and effective and our ondemand content delivery codec can satisfy a variety of spatiotemporal queries efficiently in terms of computation time communications bandwidth.

Socially-Driven Collective Path Planning for Robot Missions

“…A similar body of work addresses the problem of shared control over a pan-tilt streaming video camera, which has been studied by Song et al [6] and by Liu et al [7]. Furthermore, several groups [8], [9] have evaluated crowdsourcing as a viable alternative to solving challenging visual recognition problems within robotic systems.…”

Systems and algorithms for autonomously simultaneous observation of multiple objects using robotic PTZ cameras assisted by a wide-angle camera

“…A series of algorithms for single frame selection (SFS) problem have been proposed [13], [14]. Song et al [15] propose an autonomous observation system in which a single PTZ camera is used to fulfill competing spatiotemporal observation requests. In this work, multiple PTZ cameras are used to increase the observation coverage.…”

A Networked Telerobotic Observatory for Collaborative Remote Observation of Avian Activity and Range Change

“…Mean is a measure of general satisfaction and variance is a measure of fairness. The memory-less algorithm [Song et al (2008a)] only minimizes user dissatisfaction for a single frame. It does not take into account satisfaction over time.…”