Exact and Distributed Algorithms for Collaborative Camera Control

  • Dezhen Song
  • A. Frank van der Stappen
  • Ken Goldberg
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 7)


We propose the ShareCam Problem: controlling a single robotic pan, tilt, zoom camera based on simultaneous frame requests from n online users. To solve it, we propose a new piecewise linear metric, Intersection Over Maximum (IOM), for the degree of satisfaction for each users. To maximize overall satisfaction, we present several algorithms. For a discrete set of m distinct zoom levels, we give an exact algorithm that runs in O(n 2 m) time. The algorithm can be distributed to run in O(nm) time at each client and in O(nlog n + mn) time at the server.


Piecewise Linear User Satisfaction Camera Frame Satisfaction Function Distribute Control System 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2004

Authors and Affiliations

  • Dezhen Song
    • 1
  • A. Frank van der Stappen
    • 2
  • Ken Goldberg
    • 3
  1. 1.IEOR DepartmentUC BerkeleyBerkeleyUSA
  2. 2.ICS DepartmentUtrecht UniversityUtrechtThe Netherlands
  3. 3.IEOR and EECS DepartmentUC BerkeleyBerkeleyUSA

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