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Proceedings Paper

Autonomous Observer: a tool for remote experimentation in robotics
Author(s): Hector H Gonzalez-Banos; Jose Luis Gordillo; David Lin; Jean-Claude Latombe; Alejandro Sarmiento; Carlo Tomasi
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Paper Abstract

This paper describes a robotics technology--the Autonomous Observer (AO)--developed to facilitate experimentation over the Internet. The AO is a mobile robot equipped with visual sensors. It applies visual tracking and motion planning techniques to track a designated moving object (the target) in an environment cluttered by obstacles and repeatedly measure the target's pose. This pose is sent over the Internet to remote users who can observe 3D real-time graphic renderings of the target's motion in its environment under individually selected viewpoints. The AO was used to set up an experiment in which a can-collecting robot (playing the role of the target) equipped with a range sensor and a simple arm automatically detects coke cans and collects them in a bag.

Paper Details

Date Published: 8 November 1999
PDF: 12 pages
Proc. SPIE 3840, Telemanipulator and Telepresence Technologies VI, (8 November 1999); doi: 10.1117/12.369282
Show Author Affiliations
Hector H Gonzalez-Banos, Stanford Univ. (United States)
Jose Luis Gordillo, ITESM (Mexico)
David Lin, Stanford Univ. (United States)
Jean-Claude Latombe, Stanford Univ. (United States)
Alejandro Sarmiento, ITESM (Mexico)
Carlo Tomasi, Stanford Univ. (United States)

Published in SPIE Proceedings Vol. 3840:
Telemanipulator and Telepresence Technologies VI
Matthew R. Stein, Editor(s)

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