Real-time moving object recognition and tracking using computation offloading

• Published in: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 2449 - 2455
• Main Authors: Nimmagadda, Y, Kumar, K, Yung-Hsiang Lu, Lee, C S G
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.10.2010
• Subjects: computation offloading; Feature extraction; mobile robots; Motion detection; moving object recognition; Object recognition; Pixel; Real time systems; Robots; Servers; surveillance and tracking
• ISBN: 9781424466740; 1424466741
• ISSN: 2153-0858
• DOI: 10.1109/IROS.2010.5650303

Mobile robots are widely used for computation-intensive tasks such as surveillance, moving object recognition and tracking. Existing studies perform the computation entirely on robot processors or on dedicated servers. The robot processors are limited by their computation capability; real-time performance may not be achieved. Even though servers can perform tasks faster, the communication time between robots and servers is affected by variations in wireless bandwidths. In this paper, we present a system for realtime moving object recognition and tracking using computation offloading. Offloading migrates computation to servers to reduce the computation time on the robots. However, the migration consumes additional time, referred as communication time in this paper. The communication time is dependent on data size exchanged and the available wireless bandwidth. We estimate the computation and communication needed for the tasks and choose to execute them on robot processors or servers to minimize the total execution time, in order to satisfy real-time constraints.