A large planar camera array for multiple automated guided vehicles localization

In this work, we create a large planar camera array in our intelligent environment. It extremely extends the scope of surveillance area, and more precisely localizes robots with high response speed for AGV system. In this camera array system, color based particle filter tracking algorithm efficiently performs the task of localizing and identifying robots. The tracking algorithm intelligently controls the camera array and significantly reduces the redundancy of image data to be processed. Therefore, the whole camera array can be controlled by one normal PC rather than the expensive and powerful computer cluster or embedding the micro-processor into cameras. An expansion resetting of particle filter makes our system also can automatically re-calibrate cameras if the pose of camera changes during an accident. Experiments show the camera array consisting of 15 cameras can localize 5 robots with 18 Hz~54 Hz.