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Exact and Distributed Algorithms for Collaborative Camera Control

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Algorithmic Foundations of Robotics V

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 7))

Abstract

We propose the ShareCam Problem: controlling a single robotic pan, tilt, zoom camera based on simultaneous frame requests from n online users. To solve it, we propose a new piecewise linear metric, Intersection Over Maximum (IOM), for the degree of satisfaction for each users. To maximize overall satisfaction, we present several algorithms. For a discrete set of m distinct zoom levels, we give an exact algorithm that runs in O(n 2 m) time. The algorithm can be distributed to run in O(nm) time at each client and in O(nlog n + mn) time at the server.

This work was supported in part by the National Science Foundation under IIS-0113147 and by Intel Corporation. For more information please contact dzsong@ieor.berkeley.edu or goldberg@ieor.berkeley.edu.

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Author information

Authors and Affiliations

  1. IEOR Department, UC Berkeley, Berkeley, USA

    Dezhen Song

  2. ICS Department, Utrecht University, Utrecht, The Netherlands

    A. Frank van der Stappen

  3. IEOR and EECS Department, UC Berkeley, Berkeley, USA

    Ken Goldberg

Authors
  1. Dezhen Song
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  2. A. Frank van der Stappen
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  3. Ken Goldberg
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Editor information

Editors and Affiliations

  1. INRIA, 2004 Route des Lucioles, 06902, Sophia-Antipolis, France

    Jean-Daniel Boissonnat

  2. Dept. of Mechanical Engineering, California Inst. of Technology, East California Boulevard 12000, 91125, Pasadena, CA, USA

    Joel Burdick

  3. Dept. of Mechanical Engineering, University of California at Berkeley, 4189 Etcheverry Hall, 94720, Berkeley, CA, USA

    Ken Goldberg

  4. Beckman Inst., University of Illinois, North Matthews Avenue 405, 61801, Urbana, IL, USA

    Seth Hutchinson

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© 2004 Springer-Verlag Berlin Heidelberg

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Song, D., van der Stappen, A.F., Goldberg, K. (2004). Exact and Distributed Algorithms for Collaborative Camera Control. In: Boissonnat, JD., Burdick, J., Goldberg, K., Hutchinson, S. (eds) Algorithmic Foundations of Robotics V. Springer Tracts in Advanced Robotics, vol 7. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-45058-0_11

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  • DOI: https://doi.org/10.1007/978-3-540-45058-0_11

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-07341-0

  • Online ISBN: 978-3-540-45058-0

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