SUJITH MU

INTRODUCTION Video conferencing systems allow people to meet

without being physically present in the same location.

The existing systems available today have significantdrawbacks.

They are very expensive, and confine people to the areacovered by stationary cameras.

We are introducing a mobile Tele-immersion platform that addresses these issues by using robots with embedded cameras.

EXISTING SYSTEMSNORMAL VIDEO CONFERENCING SYSTEM

Limitless video conferences with multiple participants - anytime and anywhere.

Can be used from fixed network or frommobile network.

Things needed :Internet connection, Video conferencing devices,Account with provider.

Conferencing systems – Cisco, Polycom, Radvision, Sony.

Providers – Skype, Google Talk, Microsoft Lync.

Devices – Smart phones, Tablets, PC / laptop, Phone.

TELEPRESENCE SYSTEM

Telepresence systems allow people to save time and money byenabling them to participate in meetings and conferencesfrom remote locations.

Telepresence systems are offered by Cisco, HP, Polycom, Avaya, Life-size, Tandberg, Teliris and many others.

TELE-IMMERSION TECHNOLOGY

Tele-Immersion enable users in geographically distributedsites to collaborate in real time in a shared simulatedenvironment as if they were in the same physical room.

IMMERSIVE VIEW

THEIR DRAWBACKSHIGH COST - Telepresence systems offered by Cisco

costs about USD 300,000.

STATIONARY CAMERAS – The cameras are set-up in predetermined rigs.

RESTRICTS MOVEMENT - Confine people to thearea covered by stationary cameras.

HISTORY Studies on modern multi-party Telepresence systems emerged in

the mid-1990’s from research in computer graphics.

Early systems include CAVE and ImmersaDesk from theUniversity of Illinois at Chicago.

The TEEVE multi-stream 3D Tele-immersive system wasdeveloped by the University of California.

Researches for image processing and 3D reconstruction,networking etc make significant contributions.

Robotics have enabled affordable machines with sensors,actuators and network communication capabilities.

iRobot Create WooWee Rovio

SYSTEM OVERVIEW Video-conferencing system consists of multiple iRobot Create

robots.

Each iRobot Create carry an Asus EEE PC

connected over a serial interface.

They’ve a built-in embedded 1.3 megapixel

camera.

Laptops control the robots using the iRobot Open Interfacespecification.

Robots and central workstation uses an ad-hoc wirelessnetwork to communicate.

SYSTEM MODEL

MOVABLE ROBOTIC SYSTEM.

ALWAYS TRY TO PROVIDE ‘GOOD FRONTALVIEW’ OF OBJECTS.

MAXIMIZE THE TIME DURING

WHICH THE SYSTEM GETS A

GOOD VIEW OF SYSTEM.

SYSTEM DESIGN

Vision-based state estimation using markers.

Combined user state estimates are classify the user as either 'Rotating' or 'Linear‘.

Compute optimal robot trajectories.

Send control commands over the wireless network for each robot to execute.

HUMAN MOTION MODELROTATION THE ROBOT CAN MOVE AROUND

WITH THE USER.

THE ROBOTS MAINTAIN A CIRCULARFORMATION AROUND THE USER.

ROTATION PATTERN

LINEAR USED WHEN USER MOVES FROM ONE POINT TO ANOTHER.

USERS MOTION PATTERN

SIMULATIONS

VIEWING THE USER FROM ROBOT’S PERSPECTIVE.

THE APPLICATION WRITTEN USING SIMPLE DATA STRUCTURES IN C++ WITH

OPENGL/GLUT.

ROBOTIC PROJECTIONS

RENDER SAME SCENE FROM

DIFFERENT CAMERA VIEW

PORTS.

VISIONREALITY: COLOURED MARKERS ARE USED ON HUMANS.

‘CONTINUOSLY ADAPTIVE MEAN SHIFT ALGORITHM’ COMPUTEMARKER PARAMETER.

BASED ON THE MARKER PARAMETERS, STATE OF THE PERSON WILLBE DETERMINED.

THIS ALGORITHM WORKS ROBUST EVEN WHEN THE CAMERA IS INMOTION.

BACKGROUND SUTRACTION

THEORETICALLY:

HUMAN MOTION SEQUENCES ARE RECORDED &MOTION PARAMETERS ARE EXTRACTED USINGBACKGROUND SUBTRACTION.

APPLICATIONS

Medical application

CAN BE USED IN HEALTH CARE FIELD AS DATA COLLECTION TOOL.

Educational use

HELPFUL FOR EDUCATION PURPOSESESPECIALLY IN DISTANT EDUCATION.

Office use

CAN BE USED IN LARGE CORPORATIONS.

USEFUL FOR HOME USERS.

Hazardous Tasks

Training for complex and hazardous tasks where physical virtual interactions are the key component

FUTURE SCOPEMAKE THE SYSTEM PREPAIRED FOR AVOIDING

COLLISIONS AND BLOCKINGS.

DEVELOPMENT OF A COMPLETE SYSTEM WHICH CAN ACHIEVE TELE-PRESENCE ANYWHERE , ANYTIME

CONCLUSION EXISTING SYSTEMS ARE COSTLY AND RESTRICTS THE

USER TO SMALL AREA.

ROBOTIC TELE-CONFERECING EMPLOYS IN EXPENSIVE MOBILE ROBOTS.

MAXIMIZES THE AMOUNT OF TIME PERIOD IN WHICH GOOD USER VIEW IS OBTAINED.

SYSTEM GOOD FOR LARGE ROOMS AND FOR OPEN AREAS.