Reduction of data size for transmission in localization of mobile robots

Matsumoto, T. and Takahashi, T. and Iwahashi, M. and Kimura, T. and Salbiah, S. and Mokhtar, Norrima (2010) Reduction of data size for transmission in localization of mobile robots. International Journal of the Physical Sciences, 5 (17). pp. 2652-2657. ISSN 1992-1950,

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In the SLAM (Simultaneous Localization and Mapping) technology, an environmental map is generated by a mobile robot. When it results in failure, it is necessary to inspect the scene. This localization and browsing require transmission of video signal to a remote place. In the system in this paper, an indoor mobile robot has two cameras. One is the "upward" which captures scenery of ceiling. The other is "forward" for scenery in front of the robot. Video signals from the cameras are encoded and transmitted from the robot to a remote server. It causes a problem that data size is too huge to be transmitted. To cope with this problem, the Functionally Layered Coding (FLC) was reported. In the existing FLC, visual motions are estimated by using the rotation invariant phase only correlation (RI- POC) technique. It can estimate two kinds of motions - translation and rotation. However, it requires doubled computational complexity and many components to be transmitted. In this paper, we analyze relation between kinetic movements of a robot and visual motions observed in videos, and propose to replace RI- POC by a simple POC. It was confirmed that the proposed method reduced data size for transmission to 61.6.

Item Type: Article
Additional Information: 729HA Times Cited:0 Cited References Count:11
Uncontrolled Keywords: Data size, Localization, Mapping, Video compression.
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Engineering
Depositing User: Mr Jenal S
Date Deposited: 22 May 2013 00:21
Last Modified: 20 Mar 2019 08:17

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