Title :
Target tracking using factor graphs and multi-camera systems
Author :
Castaldo, Francesco ; Palmieri, Francesco A. N.
Author_Institution :
Seconda Univ. degli Studi di Napoli, Aversa, Italy
fDate :
7/1/2015 12:00:00 AM
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.
Keywords :
cameras; computational geometry; electronic messaging; network theory (graphs); sensor fusion; target tracking; factor graph; homography; message propagation; moving target state estimation; moving vessel tracking; multicamera system; target tracking; transformation geometry; Cameras; Mathematical model; Radar tracking; Sensor fusion; Sensor systems; Target tracking;
Journal_Title :
Aerospace and Electronic Systems, IEEE Transactions on
DOI :
10.1109/TAES.2015.140087
