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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
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
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
ConclusionDiscussionResultsExperimental SetupApproachIntroduction
System setup
ICIUS 2013 425.-27. September 2013
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
ConclusionDiscussionResultsExperimental SetupApproachIntroduction
Video CODEC (enCOding, DECoding)
� MPEG-2� MPEG-4� H.264/AVC (MPEG-4 Part10)
ICIUS 2013 625.-27. September 2013
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
ConclusionDiscussionResultsExperimental SetupApproachIntroduction
Canny edge detection algorithm
ICIUS 2013 825.-27. September 2013
ConclusionDiscussionResultsExperimental SetupApproachIntroduction
LaPlace edge detection algorithm
ICIUS 2013 925.-27. September 2013
ConclusionDiscussionResultsExperimental SetupApproachIntroduction
Foveated imaging technique
ICIUS 2013 1025.-27. September 2013
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
ConclusionDiscussionResultsExperimental SetupApproachIntroduction
„Intra refresh“ feature avoids data rate bursts
ICIUS 2013 1225.-27. September 2013
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
ConclusionDiscussionResultsExperimental SetupApproachIntroduction
Scenarios
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Scenario 1: homogeneous without other
vehicles
Scenario 2: more complex, with vehicles
and pedestrians
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]
ConclusionDiscussionResultsExperimental SetupApproachIntroduction
Comparison in data size
ICIUS 2013 1625.-27. September 2013
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
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
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
Thank you for your attention
ICIUS 2013 2025.-27. September 2013
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
ICIUS 2013 2225.-27. September 2013
ICIUS 2013 2325.-27. September 2013