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A Novel Study on Data Rate by the Video Transmission for Teleoperated Road Vehicles Tito Tang, Frederic Chucholowski, Min Yan and Prof. Dr. Markus Lienkamp 9th International Conference on Intelligent Unmanned Systems 25.-27. September 2013

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Page 1: A Novel Study on Data Rate by the Video Transmission for ... fileA Novel Study on Data Rate by the Video Transmission for Teleoperated Road Vehicles Tito Tang, Frederic Chucholowski,

A Novel Study on Data Rate by the Video Transmission for Teleoperated Road

VehiclesTito Tang, Frederic Chucholowski, Min Yan and Prof. Dr. Markus

Lienkamp

9th International Conference on Intelligent Unmanned Systems25.-27. September 2013

Page 2: A Novel Study on Data Rate by the Video Transmission for ... fileA Novel Study on Data Rate by the Video Transmission for Teleoperated Road Vehicles Tito Tang, Frederic Chucholowski,

ConclusionDiscussionResultsExperimental SetupApproachIntroduction

Driverless vehicle delivery

� Car sharing� Delivery to front door� Distribution of vehicles� Driving vehicles to charging stations

� Private electric vehicles� No private parking lot� No private charging station� Driving vehicles to charging stations� Delivery of charged vehicle to front door

ICIUS 2013 225.-27. September 2013

Page 3: A Novel Study on Data Rate by the Video Transmission for ... fileA Novel Study on Data Rate by the Video Transmission for Teleoperated Road Vehicles Tito Tang, Frederic Chucholowski,

ConclusionDiscussionResultsExperimental SetupApproachIntroduction

Autonomous vs.teleoperated vehicles

� Autonomous vehicles� Scenarios with low complexity� Highways

� Teleoperated vehicles� Urban traffic� Red lights� Pedestrians

ICIUS 2013 325.-27. September 2013

Page 4: A Novel Study on Data Rate by the Video Transmission for ... fileA Novel Study on Data Rate by the Video Transmission for Teleoperated Road Vehicles Tito Tang, Frederic Chucholowski,

ConclusionDiscussionResultsExperimental SetupApproachIntroduction

System setup

ICIUS 2013 425.-27. September 2013

Page 5: A Novel Study on Data Rate by the Video Transmission for ... fileA Novel Study on Data Rate by the Video Transmission for Teleoperated Road Vehicles Tito Tang, Frederic Chucholowski,

ConclusionDiscussionResultsExperimental SetupApproachIntroduction

Transmission

� Cellular networks� UMTS-HSPA: nominal upload rate: 11 Mbit/s� LTE: max. nominal upload rate: 75 Mbit/s

� Raw video� Gray-scale video� 640 x 480 pixels� 25 frames per second

ICIUS 2013 525.-27. September 2013

58.6 Mbit/s

Page 6: A Novel Study on Data Rate by the Video Transmission for ... fileA Novel Study on Data Rate by the Video Transmission for Teleoperated Road Vehicles Tito Tang, Frederic Chucholowski,

ConclusionDiscussionResultsExperimental SetupApproachIntroduction

Video CODEC (enCOding, DECoding)

� MPEG-2� MPEG-4� H.264/AVC (MPEG-4 Part10)

ICIUS 2013 625.-27. September 2013

Page 7: A Novel Study on Data Rate by the Video Transmission for ... fileA Novel Study on Data Rate by the Video Transmission for Teleoperated Road Vehicles Tito Tang, Frederic Chucholowski,

ConclusionDiscussionResultsExperimental SetupApproachIntroduction

Problem Statement

� A high bandwidth is required for a smooth display of video streamsused in teleoperated system

� Current available bandwidth through cellular network is limited

� A novel study on methods to reduce the data rate for the videodata transmission

ICIUS 2013 725.-27. September 2013

Page 8: A Novel Study on Data Rate by the Video Transmission for ... fileA Novel Study on Data Rate by the Video Transmission for Teleoperated Road Vehicles Tito Tang, Frederic Chucholowski,

ConclusionDiscussionResultsExperimental SetupApproachIntroduction

Canny edge detection algorithm

ICIUS 2013 825.-27. September 2013

Page 9: A Novel Study on Data Rate by the Video Transmission for ... fileA Novel Study on Data Rate by the Video Transmission for Teleoperated Road Vehicles Tito Tang, Frederic Chucholowski,

ConclusionDiscussionResultsExperimental SetupApproachIntroduction

LaPlace edge detection algorithm

ICIUS 2013 925.-27. September 2013

Page 10: A Novel Study on Data Rate by the Video Transmission for ... fileA Novel Study on Data Rate by the Video Transmission for Teleoperated Road Vehicles Tito Tang, Frederic Chucholowski,

ConclusionDiscussionResultsExperimental SetupApproachIntroduction

Foveated imaging technique

ICIUS 2013 1025.-27. September 2013

Page 11: A Novel Study on Data Rate by the Video Transmission for ... fileA Novel Study on Data Rate by the Video Transmission for Teleoperated Road Vehicles Tito Tang, Frederic Chucholowski,

ConclusionDiscussionResultsExperimental SetupApproachIntroduction

H.264/AVC Video Compression

Goals:� Equally distributed and low datarate� Minimum latency

Implementation:� x264 open source video encoding library� Only I- and P-frames� No B-frames (no reference to following frames)

� => No additional encoding delay

� Baseline profile� „veryfast“ and „zerolatency“ encoder presets� „intra refresh“ feature distributes I-frames

ICIUS 2013 1125.-27. September 2013

Page 12: A Novel Study on Data Rate by the Video Transmission for ... fileA Novel Study on Data Rate by the Video Transmission for Teleoperated Road Vehicles Tito Tang, Frederic Chucholowski,

ConclusionDiscussionResultsExperimental SetupApproachIntroduction

„Intra refresh“ feature avoids data rate bursts

ICIUS 2013 1225.-27. September 2013

Page 13: A Novel Study on Data Rate by the Video Transmission for ... fileA Novel Study on Data Rate by the Video Transmission for Teleoperated Road Vehicles Tito Tang, Frederic Chucholowski,

ConclusionDiscussionResultsExperimental SetupApproachIntroduction

Cameras� 8 Cameras, each with a 640x480

resolution

� 25 Frames per second in grey-scale

� Front field of view of approx. 240 degrees

ICIUS 2013 1325.-27. September 2013

Page 14: A Novel Study on Data Rate by the Video Transmission for ... fileA Novel Study on Data Rate by the Video Transmission for Teleoperated Road Vehicles Tito Tang, Frederic Chucholowski,

ConclusionDiscussionResultsExperimental SetupApproachIntroduction

Scenarios

ICIUS 2013 1425.-27. September 2013

Scenario 1: homogeneous without other

vehicles

Scenario 2: more complex, with vehicles

and pedestrians

Page 15: A Novel Study on Data Rate by the Video Transmission for ... fileA Novel Study on Data Rate by the Video Transmission for Teleoperated Road Vehicles Tito Tang, Frederic Chucholowski,

ConclusionDiscussionResultsExperimental SetupApproachIntroduction

Results

� CPU Intel© Core (TM) i5, 2.4 GHz M520 � Windows XP operating system� 2.0 GB RAM

ICIUS 2013 1525.-27. September 2013

Table 1 Average Time for Processing Each Frame

Scenario 1 Scenario 2 H.264/AVC 10.17 [ms] 11.46 [ms] Canny-Algorithm 27.27 [ms] 27.06 [ms] LaPlace-Algorithm 14.08 [ms] 14.20 [ms] Foveated-Imaging 09.00 [ms] 10.37 [ms]

Page 16: A Novel Study on Data Rate by the Video Transmission for ... fileA Novel Study on Data Rate by the Video Transmission for Teleoperated Road Vehicles Tito Tang, Frederic Chucholowski,

ConclusionDiscussionResultsExperimental SetupApproachIntroduction

Comparison in data size

ICIUS 2013 1625.-27. September 2013

Page 17: A Novel Study on Data Rate by the Video Transmission for ... fileA Novel Study on Data Rate by the Video Transmission for Teleoperated Road Vehicles Tito Tang, Frederic Chucholowski,

ConclusionDiscussionResultsExperimental SetupApproachIntroduction

Discussion

� Edge-detection algorithms� Reduce amount of information� Increase in data rate because of sharp corners in frame

� Foveated-Image-Technique� Slight decrease in data rate� Scenario 1: reduction of ~19%� Scenario 2: reduction of ~17%

ICIUS 2013 1725.-27. September 2013

Page 18: A Novel Study on Data Rate by the Video Transmission for ... fileA Novel Study on Data Rate by the Video Transmission for Teleoperated Road Vehicles Tito Tang, Frederic Chucholowski,

ConclusionDiscussionResultsExperimental SetupApproachIntroduction

Conclusion

� Approaches to reduce data rate for data transmission� Canny-Algorithm� Laplace-Algorithm� Foveated-Imaging-Technique

� Setup of x264 H.264/AVC video encoder� Efficient and robust� Minimum encoding latency

� Results show that edge-detection techniques do not provide a reduction, but the Foveated-Imaging-Technique does

ICIUS 2013 1825.-27. September 2013

Page 19: A Novel Study on Data Rate by the Video Transmission for ... fileA Novel Study on Data Rate by the Video Transmission for Teleoperated Road Vehicles Tito Tang, Frederic Chucholowski,

ConclusionDiscussionResultsExperimental SetupApproachIntroduction

Further research

� Determination of area of interest for Foveated-Imaging-Technique� Head-tracking� Eye-tracking

� Possible further reduction using upcoming High Efficiency Video Codec (HEVC or H.265)

ICIUS 2013 1925.-27. September 2013

Page 20: A Novel Study on Data Rate by the Video Transmission for ... fileA Novel Study on Data Rate by the Video Transmission for Teleoperated Road Vehicles Tito Tang, Frederic Chucholowski,

Thank you for your attention

ICIUS 2013 2025.-27. September 2013

Page 21: A Novel Study on Data Rate by the Video Transmission for ... fileA Novel Study on Data Rate by the Video Transmission for Teleoperated Road Vehicles Tito Tang, Frederic Chucholowski,

A Novel Study on Data Rate by the Video Transmission for Teleoperated Road

VehiclesTito Tang, Frederic Chucholowski, Min Yan and Prof. Dr. Markus

Lienkamp

9th International Conference on Intelligent Unmanned Systems25.-27. September 2013

Page 22: A Novel Study on Data Rate by the Video Transmission for ... fileA Novel Study on Data Rate by the Video Transmission for Teleoperated Road Vehicles Tito Tang, Frederic Chucholowski,

ICIUS 2013 2225.-27. September 2013

Page 23: A Novel Study on Data Rate by the Video Transmission for ... fileA Novel Study on Data Rate by the Video Transmission for Teleoperated Road Vehicles Tito Tang, Frederic Chucholowski,

ICIUS 2013 2325.-27. September 2013