ubiquitous tracking implementation concepts thomas pintaric [email protected]
TRANSCRIPT
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Ubiquitous Tracking Implementation ConceptsThomas [email protected]
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THOMAS PINTARICPINTARIC @ IMS.TUWIEN.AC.AT
Implementation Concept (Overview)
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THOMAS PINTARICPINTARIC @ IMS.TUWIEN.AC.AT
Definitions
Framework A number (1..n) of software components (locale
managers) encapsulating the up-to-date ’relationship topology’ graph Q.
Controllers Software components running on every machine
whose local sensor hardware takes part in the framework.
They build and manage inter-dependent, distributed data-flow graphs.
They offer interfaces for applications to query the framework and obtain the corresponding pose estimates.
Database A repository of infrastructure information in BAUML
(Building AUgmented Modelling Language – an XML schema) syntax.
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THOMAS PINTARICPINTARIC @ IMS.TUWIEN.AC.AT
Types of Communication / Data-flow
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THOMAS PINTARICPINTARIC @ IMS.TUWIEN.AC.AT
Dynamically Shared Data-Flow Graphs
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THOMAS PINTARICPINTARIC @ IMS.TUWIEN.AC.AT
Implementation Concept (revisited)
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THOMAS PINTARICPINTARIC @ IMS.TUWIEN.AC.AT
(Select) concepts in need of further discussion…
Handover Can initially be avoided by using a single locale
manager to store the entire graph Q and to handle all queries (> equivalent to a central server approach).
In the long run, I would propose a scheme based on evaluating per-locale transition probabilities (by introducing containment relations) for a set of candidate target locales.
Sensor Registration
Database Read-only (bootstrapping + sensor registration), or
should we allow back-propagation of measurements?
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THOMAS PINTARICPINTARIC @ IMS.TUWIEN.AC.AT
Cambridge Design Proposal
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THOMAS PINTARICPINTARIC @ IMS.TUWIEN.AC.AT
Overlap between design approaches atTU-Munich and TU-Vienna
Similarities UbiTrack controller components and locale managers
will be implemented as DWARF (Distributed Wearable Augmented Reality Framework ) services.
Common interface for applications to issue queries.
Common set of data types describing measurements and their attributes.
Common simulation environment.
Differences Independent implementation of the flow-scheduling
framework (OpenTracker 2.0 vs. DWARF network).
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OpenTracker 2.0A modular, dynamic and general-purpose data-flow scheduling framework.
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THOMAS PINTARICPINTARIC @ IMS.TUWIEN.AC.AT
OpenTracker 1.x
A quick summary of OpenTracker 1.x features:
Flow-scheduling framework for tracking data Implements the traditional pipes & filters data-flow
model Supports both push and pull data transport
mechanisms Based on XML/DOM Support for many popular tracking devices
…. and OpenTracker 1.x shortcomings:
Limited to fixed complex data type (Pos,Rot,Buttons) Does not support runtime reconfiguration
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THOMAS PINTARICPINTARIC @ IMS.TUWIEN.AC.AT
OpenTracker 2.0 Requirements
Interface for Dynamic Reconfiguration / Graph Searching:
Interface for runtime reconfiguration:- locking (i.e. flushing) subgraphs- adding/removing nodes- connecting/disconnecting pins
Interface for graph searching:- search for particular subgraphs
Traversal scheduling:
Implement a scheduler (ACE Reactor).
Multi-modal events:
Model events as a map from a name to a typed data value (see next slide).
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THOMAS PINTARICPINTARIC @ IMS.TUWIEN.AC.AT
Multi-modal events
Samples can be augmented, but existing sample data cannot be modified.
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THOMAS PINTARICPINTARIC @ IMS.TUWIEN.AC.AT
An initial set of data types(summary of yesterday’s dicsussion)
Measurements:
PosMean > float[3] RotMean > float[4] ObservedObjectID > string
Attributes:
Time > float Latency > float Certainty > float (0..1) PosStdDev > float[3,3] RotStdDev > float[?]
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Questions?Thanks for listening anyways…