Using structures to synchronize cameras of robots swarms

The synchronization of image sequences acquired by robots swarms is an essential task for localization operations. We address this problem by considering the swarms as dynamic camera networks in which, each robot is reduced to a mobile camera. The synchronicity is a strong restriction that in some cases of wide applications can be difficult to obtain. This paper studies the methodology of using a non synchronized camera network. We consider the cases where the frequency of acquisition of each element of the network can be different, including desynchronization due to delays of transmission inside the network. The following work introduces a new approach to retrieve the temporal synchronization from the multiple unsynchronized frames of a scene. The mathematical characterization of the 3D structure of scenes is used as a tool to estimate synchronization value, combined with a statistical stratum. This paper presents experimental results on real data for each step of synchronization retrieval.