In this paper we present a distributed computing system that enables a mobile robot to exploit the computational resources available in the environment in which it moves. Our application is image based localisation of a mobile robot using the properties of the Fourier transform of omnidirectional images described in [12]. The image based localisation task is quite demanding in terms of computational power and memory re- quirements (i.e. the robot needs to store and to compare a large number of images); therefore it is well suited to apply the ’Grid Computing’ paradigm. This work rep- resents a preliminary effort toward the goal of building a computational GRID for robotics applications. We developed an XML-based language, called XML-VM, that enables to transfer among machines not only the data to be processed but also the algorithm by which they have to be processed. Experimental results of off-line robot localisation are reported.
Omnidirectional Image Based Localisation using an XML Virtual Machine for Distributed Computing
MENEGATTI, EMANUELE;PAGELLO, ENRICO
2004
Abstract
In this paper we present a distributed computing system that enables a mobile robot to exploit the computational resources available in the environment in which it moves. Our application is image based localisation of a mobile robot using the properties of the Fourier transform of omnidirectional images described in [12]. The image based localisation task is quite demanding in terms of computational power and memory re- quirements (i.e. the robot needs to store and to compare a large number of images); therefore it is well suited to apply the ’Grid Computing’ paradigm. This work rep- resents a preliminary effort toward the goal of building a computational GRID for robotics applications. We developed an XML-based language, called XML-VM, that enables to transfer among machines not only the data to be processed but also the algorithm by which they have to be processed. Experimental results of off-line robot localisation are reported.Pubblicazioni consigliate
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