AltURI: a thin middleware for simulated robot vision applications

Smith, Mark, Shaker, Marwan, Yue, Shigang and Duckett, Tom (2011) AltURI: a thin middleware for simulated robot vision applications. In: IEEE International Conference on Computer Science and information Technology (ICCSIT), 10th to 12th June 2011, Chengdu, Sichuan, China.

ICCSIT 2011 altURI v1_2.pdf
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Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive


Fast software performance is often the focus when developing real-time vision-based control applications for robot simulators. In this paper we have developed a thin, high performance middleware for USARSim and other simulators designed for real-time vision-based control applications. It includes a fast image server providing images in OpenCV, Matlab or web formats and a simple command/sensor processor. The interface has been tested in USARSim with an Unmanned Aerial Vehicle using two control applications; landing using a reinforcement learning algorithm and altitude control using elementary motion detection. The middleware has been found to be fast enough to control the flying robot as well as very easy to set up and use.

Keywords:middleware, robot vision, USARSim
Subjects:G Mathematical and Computer Sciences > G740 Computer Vision
Divisions:College of Science > School of Computer Science
ID Code:4824
Deposited On:21 Jul 2013 20:01

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