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Platform Relative Sensor Abstractions across Mobile Robots Using Computer Vision and Sensor Integration

Smith, Robert, Smith, Glenn P., & Wardhani, Aster W. (2005) Platform Relative Sensor Abstractions across Mobile Robots Using Computer Vision and Sensor Integration. In Digital Image Computing: Techniques and Applications (DICTA'05), 6-8 December, 2005, Cairns, Australia.

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Abstract

Uniform sensor management and abstraction across different robot platforms is a difficult task due to the sheer diversity of sensing devices. However, because these sensors can be grouped into categories that in essence provide the same information, we can capture their similarities and create abstractions. An example would be distance data measured by an assortment of range sensors, or alternatively extracted from a camera using image processing.

This paper describes how using software components it is possible to uniformly construct high-level abstractions of sensor information across various robots in a way to support the portability of common code that uses these abstractions (e.g. obstacle avoidance, wall following). We demonstrate our abstractions on a number of robots using different configurations of range sensors and cameras.

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ID Code: 4571
Item Type: Conference Paper
Keywords: software portability, platform abstraction hardware abstraction, code reuse, robot, hardware platform, component, based, software engineering, robot control, component frameworks, component models, robot architectures, dynamic extensibility, context dependency
DOI: 10.1109/DICTA.2005.66
ISBN: 0769524672
Divisions: Past > QUT Faculties & Divisions > Faculty of Science and Technology
Copyright Owner: Copyright 2005 IEEE
Copyright Statement: Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Deposited On: 22 Jun 2006
Last Modified: 29 Feb 2012 23:12

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