2023/10/24 by Luke Robinson, Robinson, Luke, Matthew Gadd +5
Computer Science · Engineering · #Advanced Vision and Imaging #Robotics and Sensor-Based Localization #Advanced Image and Video Retrieval Techniques
paper · pdf · doi:10.48550/arxiv.2310.15677
We present a system which grows and manages a network of remote viewpoints during the natural installation cycle for a newly installed camera network or a newly deployed robot fleet. No explicit notion of camera position or orientation is required, neither global - i.e. relative to a building plan - nor local - i.e. relative to an interesting point in a room. Furthermore, no metric relationship between viewpoints is required. Instead, we leverage our prior work in effective remote control without extrinsic or intrinsic calibration and extend it to the multi-camera setting. In this, we memorise, from simultaneous robot detections in the tracker thread, soft pixel-wise topological connections between viewpoints. We demonstrate our system with repeated autonomous traversals of workspaces connected by a network of six cameras across a productive office environment.