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International Conference on Computer Vision Systems

ICVS 2017: Computer Vision Systems pp 3–15Cite as

Towards a Cloud Robotics Platform for Distributed Visual SLAM

Part of the Lecture Notes in Computer Science book series (LNTCS,volume 10528)

Abstract

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.

Keywords

  • Cloud robotics
  • Mobile robots
  • Visual SLAM
  • Perspective-n-point

This work was sponsored by the Research Grant Council of Hong Kong SAR Government, China, under project No. 16212815, 21202816 and National Natural Science Foundation of China No. 6140021318 and 61640305; Shenzhen Science, Technology and Innovation Comission (SZSTI) JCYJ20160428154842603 and JCYJ20160401100022706; partially supported by the HKUST Project IGN16EG12. All rewarded to Prof. Ming Liu.

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Notes

  1. 1.

    http://www.ros.org/.

  2. 2.

    https://aws.amazon.com/.

  3. 3.

    https://cloud.google.com/compute/.

  4. 4.

    https://OpenResty.org/.

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Author information

Authors and Affiliations

  1. Department of Computer Science Engineering, HKUST, Kowloon, Hong Kong

    Peng Yun

  2. Department of Electronic and Computer Engineering, HKUST, Kowloon, Hong Kong

    Jianhao Jiao & Ming Liu

Authors
  1. Peng Yun
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  2. Jianhao Jiao
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  3. Ming Liu
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Corresponding author

Correspondence to Ming Liu .

Editor information

Editors and Affiliations

  1. Hong Kong University of Science and Technology, Hong Kong, China

    Ming Liu

  2. Harbin Institute of Technology, Shenzhen, China

    Dr. Haoyao Chen

  3. Technische Universtiät Wien, Vienna, Austria

    Prof. Dr. Markus Vincze

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Yun, P., Jiao, J., Liu, M. (2017). Towards a Cloud Robotics Platform for Distributed Visual SLAM. In: Liu, M., Chen, H., Vincze, M. (eds) Computer Vision Systems. ICVS 2017. Lecture Notes in Computer Science(), vol 10528. Springer, Cham. https://doi.org/10.1007/978-3-319-68345-4_1

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  • DOI: https://doi.org/10.1007/978-3-319-68345-4_1

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