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Remote Driving With Reduced Bandwidth Communication
Proceedings of the Sixth Annual Space Operation, Application, and Research Symposium (SOAR '92): Houston, TX
  • Fred W. DePiero, Oak Ridge National Laboratory
  • Timothy E. Noell, Oak Ridge National Laboratory
  • Timothy F. Gee, Oak Ridge National Laboratory
Publication Date
8-6-1992
Abstract

Oak Ridge National Laboratory has developed a real-time video transmission system for low-bandwidth remote operations. The system supports both continuous transmission of video for remote driving and progressive transmission of still images. Inherent in the system design is a spatiotemporal limitation to the effects of channel errors. The average data rate of the system is 64,000 bits/s, a compression of approximately 1000:1 for the black and white National Television Standard Code video. The image quality of the transmissions is maintained at a level that supports teleoperation of a high-mobility multipurpose wheeled vehicle at speeds up to 15 mph on a moguled dirt track. Video compression is achieved by using Laplacian image pyramids and a combination of classical techniques. Certain subbands of the image pyramid are transmitted by using interframe differencing with a periodic refresh to aid in bandwidth reduction. Images are also foveated to concentrate image detail in a steerable region. The system supports dynamic video quality adjustments between frame rate, image detail, and foveation rate. A typical configuration for the system used during driving has a frame rate of ~ 4 Hz, a compression per frame of ~ 125:1, and a resulting latency of < 1s.

Citation Information
Fred W. DePiero, Timothy E. Noell and Timothy F. Gee. "Remote Driving With Reduced Bandwidth Communication" Proceedings of the Sixth Annual Space Operation, Application, and Research Symposium (SOAR '92): Houston, TX (1992)
Available at: http://works.bepress.com/fdepiero/12/