Performance testing Xtion on Raspberry PiUsing a capturing server

Raspberry Pi is a good machine. But it don't have a capacity for 3D processing.  For this test, I use a Raspberry Pi as a capturing service (server).  And MacMini is 3D Processing service and viewing.
My test environment diagram is below.

Raspberry Piは、３D処理をするには性能がたりません。従って、Xtionを使ったcaputuring setverとして使い、空間認識などの処理をMacminiで処理します。そのテストをしました。
テストは、RDCS環境を使いまいた。RDCSは、分散コンピューティングをベースにしたロボットプラットフォームです。その機能を使ってテストをしました。
Micminiでpoint cloud処理をしています。さすがに瞬間的な処理です。


 Capturing Service        3D recognizing service
　　　Xtion
    Raspberry Pi                Mac MIni
----------------------------------------------------　 Coordinator　Layer
----------------------------------------------------　(Service Control)
             |                                |
----------------------------------------------------      Cooperative　Layer
---------------------------------------------------- (Communication Control)

A performance testing was executed on RDCS.

RDCS is a robot platform based on a distributed computing model.
A lots of robot function (hardware, software) is connected by  "Cooperative Control" and "Coordinator".
"Cooperative Control" is a network communication control.  The control  connects computer , actuator, sensor and other robot device.
"Coordinator" offers robot required software. "Coordinator" integrates a lot robot software on RDCS.

This test flow is :

(1) 3D recognized service requests a data set ( image and depth ) to Capturing service.
(2) Capturing service on Raspberry Pi execute to capture image and depth.
(3) 3D recognized service receive a couple of capturing data.
(4) 3D processing and viewing

RESULT (sec)
(1)      0-1
(2)     8-10 (include the time which is Xtion initialize and terminate)
                   A Capture time is 1-2 sec.
(3)      0-1
(4)      0-1


This result means that a single robot don't have all function in it.
Therefore, it's able to develop a lightweight and low cost robot.
There are a lot of kinds wrok in farm. And my farm is large. Thus I need  a lot of robot. To do that,  I have to develop a low cost and multi-function robot.
My robots are structured by base robot and add-in function in order to realize a multi-function of robot.
And these robots have to been set up by commercialized product and builded  by component-based.

Now I'm developing a core component of robot  using 2 or ３ Raspberry Pi.
A core component of robot is structured by  6 components which are robot platform(RDCS), space recognition, obstacle detection, moving, fail-safe and recovery.
An effectivity of RDCS which I have developed was  confirmed by this testing.


この結果は、1台のロボットに全ての機能を集約しなくても良い事を示しています。
従って、軽量なかつ低価格のロボットを作る事ができます。
ロボットプラットフォーム、障害物検知、通信、移動、フェイルセーフと回復機能を持ったシンプルなロボットを、Raspberry Piを２、３個使って作れば良いと思います。その上に、アクチュエータなどのロボットのパーツを載せればよのではないでしょうか？
私の開発している、RDCSのアーキテクチャーの有効性を確認できました。

                                                     3D point cloud

Peace!