T. Mkel, A. Tikanmki, and J. Rning (Finland)
Vision system, robotics, distributed software architecture, Property Service
In this paper, we present a general-purpose vision system developed for a variety of robots. The vision system pro vides a common interface for extracting visual information from the robots’ surroundings. The vision system consists of a computer vision library and Property Service, which is a distributed software architecture. The vision system can be easily utilized by robots with differing capabilities. The extracted information is then presented using markers, a common description format. We demonstrate and evaluate the vision system on two diverse mobile robots.
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