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Development of a stereo vision system for remotely operated robots: A control and video streaming architecture

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5 Author(s)
Amanatiadis, A. ; Dept. of Electr. & Comput. Eng., Democritus Univ. of Thrace, Xanthi ; Gasteratos, A. ; Georgoulas, C. ; Kotoulas, L.
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This paper describes the open and flexible architecture of a stereo vision system prototype, using open source software. The system is designed for teleoperated robots and includes a four degrees of freedom stereo head mechanism, a pair of high performance digital cameras, a head tracker and a head mounted display. All processes for the head control and video streaming are performed in Linux-based Real-time Operating Systems using open source libraries under GPL license. Experimental results showed that our system is capable of satisfying the hard-real time requirements for the head control, with great precision, and a low latency for the stereo video streaming. The video streaming management is particularly sophisticated resulting in a flexible, efficient and reliable service.

Published in:

Virtual Environments, Human-Computer Interfaces and Measurement Systems, 2008. VECIMS 2008. IEEE Conference on

Date of Conference:

14-16 July 2008

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