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Distributed object tracking with robot and disjoint camera networks

Liu, Junbin, Wark, Tim , Martin, Steven Colin, Corke, Peter, & D'Souza, Matthew (2011) Distributed object tracking with robot and disjoint camera networks. In Proceedings of the PerCom - WORKSHOPS 2011 : 2011 IEEE International Conference on Pervasive Computing and Communications Workshop, IEEE Xplore, Renaissance Seattle Hotel, Seattle, pp. 380-383.

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Abstract

We describe a novel two stage approach to object localization and tracking using a network of wireless cameras and a mobile robot. In the first stage, a robot travels through the camera network while updating its position in a global coordinate frame which it broadcasts to the cameras. The cameras use this information, along with image plane location of the robot, to compute a mapping from their image planes to the global coordinate frame. This is combined with an occupancy map generated by the robot during the mapping process to track the objects. We present results with a nine node indoor camera network to demonstrate that this approach is feasible and offers acceptable level of accuracy in terms of object locations.

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ID Code: 41119
Item Type: Conference Paper
Keywords: Smart Camera, Calibration, Object Localization, Tracking, Robot
DOI: 10.1109/PERCOMW.2011.5766911
ISBN: 9781612849386
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Computer Vision (080104)
Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > DISTRIBUTED COMPUTING (080500) > Ubiquitous Computing (080504)
Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Institutes > Information Security Institute
Past > Schools > School of Engineering Systems
Copyright Owner: Copyright 2011 IEEE.
Copyright Statement: Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.
Deposited On: 07 Apr 2011 12:11
Last Modified: 10 Sep 2011 12:03

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