Paper Info
Title
New approach to enhancing the performance of cloud-based vision system of mobile robots.
Abstract
Mobile robots require real-time performance, high computation power, and a shared computing environment. Although cloud computing offers computation power, it may adversely affect real-time performance owing to network lag. The main objective of this study is to allow a mobile robot vision system to reliably achieve real-time constraints using cloud computing. A human cloud mobile robot architecture is proposed as well as a data flow mechanism organized on both the mobile robot and the cloud server sides. Two algorithms are proposed: (i) A real-time image clustering algorithm, applied on the mobile robot side, and (ii) A modified growing neural gas algorithm, applied on the cloud server side. The experimental results demonstrate that there is a 25% to 45% enhancement in the total response time, depending on the communication bandwidth and image resolution. Moreover, better performance in terms of data size, path planning time, and accuracy is demonstrated over other state-of-the-art techniques.
Year
DOI
Venue
2019
10.1016/j.compeleceng.2019.01.001
Computers & Electrical Engineering
Keywords
Field
DocType
3D point cloud,Cloud computing,Cloud robotics,Computer vision,Computation offloading,Mobile robot,Real-time networking,Stereo vision
Motion planning,Server-side,Machine vision,Computer science,Real-time computing,Cluster analysis,Neural gas,Mobile robot,Data flow diagram,Cloud computing
Journal
Volume
ISSN
Citations 
74
0045-7906
0
PageRank 
References 
Authors
0.34
14
3
Name
Order
Citations
PageRank
Mahmoud Mohammed Badawy1357.44
Hisham Khalifa200.34
Hesham Arafat3132.58