| Presentation | 2019-06-13 Cloud-based VSLAM for Robotics utilizing Adaptive Video Streaming Natsuki Kai, Takahiro Shiroshima, Hiroshi Yoshida, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Cloud sensing that collects enormous sensor data over cloud network and recognizes around sensors' environments by powerful cloud computing resource has become very popular. Especially, the fusion and analysis of vast sensor data by cloud computing resource is a remarkable feature. Image-sensing technology that estimates 3D camera pose and mapping by using 2D image, VSLAM (Visual Simultaneous Localization And Mapping), has been developed, however, the VSLAM requires a lot of computing resources. We proposed the novel architechture, cloud-based VSLAM. Could-based VSLAM computes much image data on cloud side, and the camera attached to robot trasmitts video data to Cloud-based VSLAM in real-time, which enables to read the environment around the robot with low cost. To realize our proposal archtecture, live video streaming technology can transmit video data to cloud side with high video quality is needed. This paper showed our adaptive video streaming technology that dynamically changes the video bitrate in accordance with the network fluctuation has a good effect onto Cloud-based VSLAM. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Visual SLAM / live video streaming / adaptive rate control |
| Paper # | CNR2019-9 |
| Date of Issue | 2019-06-06 (CNR) |
| Conference Information | |
| Committee | CNR |
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| Conference Date | 2019/6/13(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | Kazunori Takashio(Keio Univ.) |
| Vice Chair | Masayuki Kanbara(NAIST) / Yoshihiko Murakawa(Fujitsu Labs.) |
| Secretary | Masayuki Kanbara(Shibaura Inst. of Tech.) / Yoshihiko Murakawa(Panasonic) |
| Assistant | Yuka Kobayashi(Toshiba) / Masanori Yokoyama(ＮＴＴ) |
| Paper Information | |
| Registration To | Technical Committee on Cloud Network Robotics |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Cloud-based VSLAM for Robotics utilizing Adaptive Video Streaming |
| Sub Title (in English) | |
| Keyword(1) | Visual SLAM |
| Keyword(2) | live video streaming |
| Keyword(3) | adaptive rate control |
| 1st Author's Name | Natsuki Kai |
| 1st Author's Affiliation | NEC Corporation(NEC) |
| 2nd Author's Name | Takahiro Shiroshima |
| 2nd Author's Affiliation | NEC Corporation(NEC) |
| 3rd Author's Name | Hiroshi Yoshida |
| 3rd Author's Affiliation | NEC Corporation(NEC) |
| Date | 2019-06-13 |
| Paper # | CNR2019-9 |
| Volume (vol) | vol.119 |
| Number (no) | CNR-81 |
| Page | pp.pp.43-48(CNR), |
| #Pages | 6 |
| Date of Issue | 2019-06-06 (CNR) |