Towards a Cloud Robotics Platform for Distributed Visual SLAM

被引：7
|
作者：
Yun, Peng [1 ]
Jiao, Jianhao [2 ]
Liu, Ming [2 ]
机构：
[1] HKUST, Dept Comp Sci Engn, Kowloon, Hong Kong, Peoples R China
[2] HKUST, Dept Elect & Comp Engn, Kowloon, Hong Kong, Peoples R China
来源：
COMPUTER VISION SYSTEMS, ICVS 2017 | 2017年 / 10528卷
基金：
中国国家自然科学基金;
关键词：
Cloud robotics; Mobile robots; Visual SLAM; Perspective-n-point;
D O I：
10.1007/978-3-319-68345-4_1
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
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.
引用
收藏
页码：3 / 15
页数：13
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