An overview about robotic video conferencing systems.

1. SUJITH MU

2. INTRODUCTION
Videoconferencingsystemsallowpeopletomeetwithoutbeingphysicallypresentinthesamelocation.
Theexistingsystemsavailabletodayhavesignificantdrawbacks.
Theyareveryexpensive,andconfinepeopletotheareacoveredbystationarycameras.
We are introducing a mobile Tele-immersion platform that addresses these issues by using robots with embedded cameras.

3. EXISTING SYSTEMS
NORMAL VIDEO CONFERENCING SYSTEM
Limitlessvideoconferenceswithmultipleparticipants-anytimeandanywhere.
Canbeusedfromfixednetworkorfrom
mobilenetwork.
Thingsneeded:Internetconnection,Videoconferencingdevices, Accountwithprovider.
Conferencingsystems–Cisco,Polycom,Radvision,Sony.
Providers–Skype,GoogleTalk,MicrosoftLync.
Devices–Smartphones,Tablets,PC/laptop,Phone.

4. TELEPRESENCE SYSTEM
Telepresencesystemsallowpeopletosavetimeandmoneybyenablingthemtoparticipateinmeetingsandconferencesfromremotelocations.
Telepresence systems are offered by Cisco, HP, Polycom, Avaya, Life-size, Tandberg, Teliris and many others.

5. TELE-IMMERSION TECHNOLOGY
Tele-Immersionenableusersingeographicallydistributedsitestocollaborateinrealtimeinasharedsimulatedenvironmentasiftheywereinthesamephysicalroom.

6. IMMERSIVE VIEW

7. THEIR DRAWBACKS
HIGH COST -Telepresence systems offered by Cisco costs about USD 300,000.
STATIONARY CAMERAS –The cameras are set-up in predetermined rigs.
RESTRICTSMOVEMENT-Confinepeopletotheareacoveredbystationarycameras.

8. HISTORY
Studiesonmodernmulti-partyTelepresencesystemsemergedinthemid-1990’sfromresearchincomputergraphics.
EarlysystemsincludeCAVEandImmersaDeskfromtheUniversityofIllinoisatChicago.
TheTEEVEmulti-stream3DTele-immersivesystemwasdevelopedbytheUniversityofCalifornia.
Researchesforimageprocessingand3Dreconstruction, networkingetcmakesignificantcontributions.
Roboticshaveenabledaffordablemachineswithsensors, actuatorsandnetworkcommunicationcapabilities.
iRobotCreateWooWeeRovio

9. SYSTEM OVERVIEW
Video-conferencingsystemconsistsofmultipleiRobotCreaterobots.
EachiRobotCreatecarryanAsusEEEPC
connectedoveraserialinterface.
They’ve a built-in embedded 1.3 megapixel
camera.
LaptopscontroltherobotsusingtheiRobotOpenInterfacespecification.
Robotsandcentralworkstationusesanad-hocwirelessnetworktocommunicate.

10. SYSTEM MODEL
MOVABLE ROBOTIC SYSTEM.
ALWAYSTRYTOPROVIDE‘GOODFRONTALVIEW’OFOBJECTS.
MAXIMIZETHETIMEDURING
WHICHTHESYSTEMGETSA
GOODVIEWOFSYSTEM.

11. 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.

12. HUMAN MOTION MODEL
ROTATION
THE ROBOT CAN MOVE AROUND
WITH THE USER.
THE ROBOTS MAINTAIN A CIRCULAR
FORMATION AROUND THE USER.
ROTATION PATTERN
LINEAR
USED WHEN USER MOVES FROM ONE POINT TO ANOTHER.
USERS MOTION PATTERN

13. 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.

14. VISION
REALITY:
COLOUREDMARKERSAREUSEDONHUMANS.
‘CONTINUOSLYADAPTIVEMEANSHIFTALGORITHM’COMPUTEMARKERPARAMETER.
BASEDONTHEMARKERPARAMETERS,STATEOFTHEPERSONWILLBEDETERMINED.
THISALGORITHMWORKSROBUSTEVENWHENTHECAMERAISINMOTION.

15. BACKGROUND SUTRACTION
THEORETICALLY:
HUMANMOTIONSEQUENCESARERECORDED& MOTIONPARAMETERSAREEXTRACTEDUSINGBACKGROUNDSUBTRACTION.

16. APPLICATIONS

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

18. Educational use
HELPFULFOREDUCATIONPURPOSESESPECIALLYINDISTANTEDUCATION.

19. Office use
CAN BE USED IN LARGE CORPORATIONS.
USEFUL FOR HOME USERS.

20. Hazardous Tasks
Training for complex and hazardous tasks where physical virtual interactions are the key component

21. FUTURE SCOPE
MAKE THE SYSTEM PREPAIRED FOR AVOIDING COLLISIONS AND BLOCKINGS.
DEVELOPMENT OF A COMPLETE SYSTEM WHICH CAN ACHIEVE TELE-PRESENCE ANYWHERE , ANYTIME

22. CONCLUSION
EXISTINGSYSTEMSARECOSTLYANDRESTRICTSTHEUSERTOSMALLAREA.
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.