发表机构
Australian National University（澳大利亚国立大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出ATOC系统，集成LED智能信标调制、事件检测、光学跟踪与解调，实现定向光通信，并在实验室、智慧城市和三维运动捕捉中验证。
AI 中文摘要
机器人间通信是协作机器人应用中的一项关键使能技术。虽然无线通信普遍、简单且有效，但它存在固有的局限性：接收机器人难以定位传入信号的来源，时钟同步具有挑战性，且信号是广播给附近所有设备而非定向接收者。光通信提供了一种互补的信道，其本质上是定向的且空间局部化，直接解决了这些局限性。事件相机是受生物启发的动态视觉传感器，以高时间分辨率、高动态范围和低延迟响应图像强度的变化，使其非常适合作为协作机器人系统中高速光通信的接收器。在本文中，我们提出了异步跟踪与光通信（ATOC）系统，该系统将LED智能信标调制、基于事件的检测、光学跟踪和事件数据解调集成在单一流水线中。通过同时跟踪和解调多个LED智能信标，ATOC将传统的视觉标记转化为适用于广泛高影响力机器人应用的稳健通信信道。我们在一系列实验室研究和两个“应用”中验证了ATOC：一个智慧城市演示和一个三维运动捕捉系统。
英文摘要
Inter-robot communication is a key enabling technology in cooperative robotics applications. While wireless communication is ubiquitous, simple, and effective, it has inherent limitations: the receiving robot cannot easily localise the source of an incoming signal, clock synchronisation is challenging, and signals are broadcast to all nearby devices rather than targeted recipients. Optical communication provides a complementary channel that is inherently directional and spatially localised, directly addressing these limitations. Event cameras are bio-inspired dynamic vision sensors that respond to changes in image intensity with high temporal resolution, high dynamic range, and low latency, making them well-suited as receivers for high-rate optical communication in cooperative robotic systems. In this paper, we propose the Asynchronous Tracking and Optical Communication (ATOC) system, which integrates LED smart-beacon modulation, event-based detection, optical tracking, and event-data demodulation in a single pipeline. By simultaneously tracking and demodulating multiple LED smart beacons, ATOC transforms a conventional visual marker into a robust communication channel suitable for a wide range of high-impact robotics applications. We validate ATOC in a suite of laboratory studies and two 'applications': a smart-city demonstration and a 3D motion-capture system.
Comments16 pages, 17 figures
