This paper presents a multi-camera target tracking system based on factor graphs, designed to estimate the state of moving targets using a message propagation framework. Inexpensive cameras deployed in the area of interest are the main sensory modality. We discuss the transformation geometry between world points and camera pixels and how the uncertainties in the homographies affect the estimation. The framework has been tested on real data coming from a harbor to track moving vessels.
Target tracking using factor graphs and multi-camera systems
Palmieri, Francesco A. N.
2015
Abstract
This paper presents a multi-camera target tracking system based on factor graphs, designed to estimate the state of moving targets using a message propagation framework. Inexpensive cameras deployed in the area of interest are the main sensory modality. We discuss the transformation geometry between world points and camera pixels and how the uncertainties in the homographies affect the estimation. The framework has been tested on real data coming from a harbor to track moving vessels.File in questo prodotto:
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