Robotic texture

• US 9,067,320 B2
• Filed: 04/27/2012
• Issued: 06/30/2015
• Est. Priority Date: 06/09/2010
• Status: Active Grant

• Current Assignee: ETH Zurich, Disney Enterprises Incorporated (The Walt Disney Company)
• Original Assignee: Disney Enterprises Incorporated (The Walt Disney Company)
• Inventors: Beardsley, Paul, Mora, Javier Alonso, Breitenmoser, Andreas, Perazzi, Federico, Hornung, Alexander
• Primary Examiner(s): Tung, Kee M
• Assistant Examiner(s): CHEN, FRANK S
• Application Number:
  US13/458,875
• Publication Number:
  US 20120206473A1
• Time in Patent Office: 1,159 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones
• CPC Class Codes: G06T 11/001 Texturing; Colouring; Generation of texture or colour inpainting G06T5/77

Abstract

Techniques are disclosed for controlling robot pixels to display a visual representation of a real-world video texture. Mobile robots with controllable color may generate visual representations of the real-world video texture to create an effect like fire, sunlight on water, leaves fluttering in sunlight, a wheat field swaying in the wind, crowd flow in a busy city, and clouds in the sky. The robot pixels function as a display device for a given allocation of robot pixels. Techniques are also disclosed for distributed collision avoidance among multiple non-holonomic and holonomic robots to guarantee smooth and collision-free motions.

Claims

1. A method for generating, by mobile entities, a dynamic texture for display, comprising:

receiving an input dynamic texture comprising a plurality of frames of a dynamic visual image;

receiving actual positions of the mobile entities;

computing texture characterization parameters for a time step based on the input dynamic texture, wherein the texture characterization parameters comprise color changes for the mobile entities, the color changes causing the mobile entities to display a visual representation of at least one frame of the dynamic visual image;

computing goal positions for the mobile entities to generate the visual representation, wherein the goal positions are based on the texture characterization parameters and the actual positions of the mobile entities; and

providing each one of the goal positions to a physical controller of the mobile entities.

2. The method of claim 1, further comprising:

computing additional texture characterization parameters for an additional time step based on the input dynamic texture; and

computing additional goal positions based on the additional texture characterization parameters and additional actual positions of the mobile entities.

3. The method of claim 1, wherein computing the texture characterization parameters comprises performing an optical flow analysis of the input dynamic texture to extract motion and color changes as the texture characterization parameters.

4. The method of claim 1, further comprising:

assigning each of the mobile entities to serve as a respective mobile pixel for displaying the dynamic visual image, wherein the goal positions change a spatial arrangement of the mobile entities relative to each other.

5. The method of claim 1, wherein computing the texture characterization parameters comprises performing dynamic texture synthesis of the input dynamic texture by reducing the input dynamic texture to a low-dimensional representation before extracting motion and color changes as the texture characterization parameters.

6. The method of claim 1, further comprising:

computing a substantially evenly distributed set of initial goal positions for the mobile entities for a first frame of the input dynamic texture; and

providing the initial goal positions to the physical controller which moves the mobile entities to the actual positions.

7. The method of claim 1, wherein the mobile entities includes at least one of a non-holonomic robotic element and a holonomic robotic element.

8. The method of claim 1, further comprising, determining a set of colors for display by the mobile entities to generate the dynamic texture for display.

9. The method of claim 1, wherein the mobile entities are robots configured to move in three-dimensional space.

10. The method of claim 1, wherein the mobile entities are configured to sense an environment and react to the environment to generate the visual representation.

11. The method of claim 1, wherein the dynamic texture for display represents at least one of fire, sunlight reflected on water, leaves fluttering in sunlight, a wheat field swaying responsive to wind, crowd flow in a busy city, and clouds in a sky.

12. A non-transitory computer-readable storage medium including instructions that, when executed by a processor, cause the processor to generate a dynamic texture for display by mobile entities, by performing the steps of:

receiving an input dynamic texture comprising a plurality of frames of a dynamic visual image;

receiving actual positions of the mobile entities;

computing texture characterization parameters for a time step based on the input dynamic texture, wherein the texture characterization parameters comprises color changes for the mobile entities, the color changes causing the mobile entities to display a visual representation of at least one frame of the dynamic visual image;

computing goal positions for the mobile entities to generate the visual representation, wherein the goal positions are based on the texture characterization parameters and the actual positions of the mobile entities; and

providing each one of the goal positions to a physical controller of the mobile entities.

13. A system for generating a dynamic texture for display by mobile entities, comprising:

a memory that is configured to store instructions for a program; and

a processor that is configured to execute the instructions for the program to generate the dynamic texture by performing an operation, the operation comprising;

receiving an input dynamic texture comprising a plurality of frames of a dynamic visual image;

receiving actual positions of the mobile entities, wherein the texture characterization parameters comprise color changes for the mobile entities, the color changes causing the mobile entities to display a visual representation of at least one frame of the dynamic visual image;

computing texture characterization parameters for a time step based on the input dynamic texture;

computing goal positions for the mobile entities to generate the visual representation, wherein the goal positions are based on the texture characterization parameters and the actual positions of the mobile entities; and

providing each one of the goal positions to a physical controller of the mobile entities.

14. The system of claim 13, wherein the operation further comprises:

computing additional texture characterization parameters for an additional time step based on the input dynamic texture; and

computing additional goal positions based on the additional texture characterization parameters and additional actual positions of the mobile entities.

15. The system of claim 13, wherein computing the texture characterization parameters comprises performing an optical flow analysis of the input dynamic texture to extract motion and color changes as the texture characterization parameters.

16. The system of claim 13, wherein the operation further comprises:

assigning each of the mobile entities to serve as a respective mobile pixel for displaying the dynamic visual image.

17. The method of claim 13, wherein computing the texture characterization parameters comprises performing dynamic texture synthesis of the input dynamic texture by reducing the input dynamic texture to a low-dimensional representation before extracting motion and color changes as the texture characterization parameters.

18. The system of claim 13, wherein the operation further comprises:

computing a substantially evenly distributed set of initial goal positions for the mobile entities for a first frame of the input dynamic texture; and

providing the initial goal positions to the physical controller which moves the mobile entities to the actual positions.

19. The system of claim 13, wherein the mobile entities includes at least one of a non-holonomic robotic element and a holonomic robotic element.

20. The system of claim 13, wherein the operation further comprises, determining a set of colors for display by the mobile entities to generate the dynamic texture for display.