A Region of Interest (ROI) Sharing Protocol for Multirobot Cooperation With Distributed Sensing Based on Semantic Stability
A Region of Interest (ROI) Sharing Protocol for Multirobot Cooperation With Distributed Sensing Based on Semantic Stability
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DOI：
10.1109/tsmc.2013.2259812
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发表时间：
2014-04
期刊：
影响因子：
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通讯作者：
M. Rokunuzzaman;T. Umeda;K. Sekiyama;T. Fukuda
中科院分区：
文献类型：
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作者：
M. Rokunuzzaman;T. Umeda;K. Sekiyama;T. Fukuda
介绍了一种机器人感兴趣区域（ROI）共享协议，每个机器人在同一场景中观察不同的区域。这种类型的观测通常被称为“分布式传感”。ROI共享协议是基于语义稳定性的概念实现的，语义稳定性有助于通过从图像或场景中选择足够的信息来找到稳定的上下文。语义稳定性是根据ROI中发现的语义相关性和关系中的信息缺口来制定的。此外，通过从给定图像中选择最佳ROI来确定必要和充分的信息。最后，在机器人之间共享最佳ROI进行合作。实验结果表明，ROI共享在任务性能和鲁棒性方面是有效的。
This paper introduces a region of interest (ROI) sharing protocol for robots, each of which observes different regions in the same scene. This type of observation is generally referred to as “distributed sensing.” The ROI sharing protocol is implemented based on a concept of semantic stability, which helps to find a stable context by selecting sufficient information from an image or a scene. The semantic stability is formulated based on semantic relatedness and the information gap in the relations found in the ROI. Moreover, the necessary and sufficient information is determined by selecting the best ROI from a given image. Finally, the best ROI is shared between the robots for making cooperation. Experimental results show that the ROI sharing is efficient in terms of task performance and robustness.