Towards a cloud robotics platform for distributed visual SLAM

Peng Yun; Jianhao Jiao; Ming Liu

doi:10.1007/978-3-319-68345-4_1

Towards a cloud robotics platform for distributed visual SLAM

Peng Yun
, Jianhao Jiao
, Ming Liu^*

^*Corresponding author for this work

Department of Computer Science and Engineering

Research output: Chapter in Book/Conference Proceeding/Report › Conference Paper published in a book › peer-review

9 Citations (Scopus)

Abstract

Cloud computing allows robots to offload computation and share information as well as skills. Visual SLAM is one of the intensively computational tasks for mobile robots. It can benefit from the cloud. In this paper, we propose a novel cloud robotics platform named RSE-PF for distributed visual SLAM with close attention to the infrastructure of the cloud. We implement it with Amazon Web Services and OpenResty. We demonstrate the feasibility, robustness, and elasticity of the proposed platform with a use case of perspective-n-point solution. In this use case, the average round-trip delay is 153 ms, which meets the near real-time requirement of mobile robots.

Original language	English
Title of host publication	Computer Vision Systems - 11th International Conference, ICVS 2017, Revised Selected Papers
Editors	Markus Vincze, Haoyao Chen, Ming Liu
Publisher	Springer Verlag
Pages	3-15
Number of pages	13
ISBN (Print)	9783319683447
DOIs	https://doi.org/10.1007/978-3-319-68345-4_1
Publication status	Published - 2017
Event	11th International Conference on Computer Vision Systems, ICVS 2017 - Shenzhen, China Duration: 10 Jul 2017 → 13 Jul 2017

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	10528 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	11th International Conference on Computer Vision Systems, ICVS 2017
Country/Territory	China
City	Shenzhen
Period	10/07/17 → 13/07/17

Bibliographical note

Publisher Copyright:
© 2017, Springer International Publishing AG.

Keywords

Cloud robotics
Mobile robots
Perspective-n-point
Visual SLAM

Access to Document

10.1007/978-3-319-68345-4_1

Cite this

Yun, P., Jiao, J., & Liu, M. (2017). Towards a cloud robotics platform for distributed visual SLAM. In M. Vincze, H. Chen, & M. Liu (Eds.), Computer Vision Systems - 11th International Conference, ICVS 2017, Revised Selected Papers (pp. 3-15). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 10528 LNCS). Springer Verlag. https://doi.org/10.1007/978-3-319-68345-4_1

Yun, Peng ; Jiao, Jianhao ; Liu, Ming. / Towards a cloud robotics platform for distributed visual SLAM. Computer Vision Systems - 11th International Conference, ICVS 2017, Revised Selected Papers. editor / Markus Vincze ; Haoyao Chen ; Ming Liu. Springer Verlag, 2017. pp. 3-15 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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keywords = "Cloud robotics, Mobile robots, Perspective-n-point, Visual SLAM",

author = "Peng Yun and Jianhao Jiao and Ming Liu",

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Yun, P, Jiao, J & Liu, M 2017, Towards a cloud robotics platform for distributed visual SLAM. in M Vincze, H Chen & M Liu (eds), Computer Vision Systems - 11th International Conference, ICVS 2017, Revised Selected Papers. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 10528 LNCS, Springer Verlag, pp. 3-15, 11th International Conference on Computer Vision Systems, ICVS 2017, Shenzhen, China, 10/07/17. https://doi.org/10.1007/978-3-319-68345-4_1

Towards a cloud robotics platform for distributed visual SLAM. / Yun, Peng; Jiao, Jianhao; Liu, Ming.
Computer Vision Systems - 11th International Conference, ICVS 2017, Revised Selected Papers. ed. / Markus Vincze; Haoyao Chen; Ming Liu. Springer Verlag, 2017. p. 3-15 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 10528 LNCS).

Research output: Chapter in Book/Conference Proceeding/Report › Conference Paper published in a book › peer-review

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AB - Cloud computing allows robots to offload computation and share information as well as skills. Visual SLAM is one of the intensively computational tasks for mobile robots. It can benefit from the cloud. In this paper, we propose a novel cloud robotics platform named RSE-PF for distributed visual SLAM with close attention to the infrastructure of the cloud. We implement it with Amazon Web Services and OpenResty. We demonstrate the feasibility, robustness, and elasticity of the proposed platform with a use case of perspective-n-point solution. In this use case, the average round-trip delay is 153 ms, which meets the near real-time requirement of mobile robots.

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KW - Mobile robots

KW - Perspective-n-point

KW - Visual SLAM

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DO - 10.1007/978-3-319-68345-4_1

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AN - SCOPUS:85031786776

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T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

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BT - Computer Vision Systems - 11th International Conference, ICVS 2017, Revised Selected Papers

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Yun P, Jiao J, Liu M. Towards a cloud robotics platform for distributed visual SLAM. In Vincze M, Chen H, Liu M, editors, Computer Vision Systems - 11th International Conference, ICVS 2017, Revised Selected Papers. Springer Verlag. 2017. p. 3-15. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-319-68345-4_1

Towards a cloud robotics platform for distributed visual SLAM

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