A Software Architecture for Distributed Visual Tracking
in a Global Vision Localization System
Siniša Šegvić and Slobodan Ribarić
University of Zagreb,
Faculty of Electrical Engineering and Computing,
Unska 3, 10000 Zagreb, Croatia,
The paper considers detecting and tracking
multiple moving objects in real time
by a multiagent active vision system.
The main objective of the envisioned system is to maintain
an explicit comprehensive representation of the scene
by combining individual views
obtained from several autonomous observer nodes.
In order to allow for a near real time performance,
each observer agent has been assigned a separate computer system,
while an additional coordination agent is introduced
for relieving the observers from
correspondence and coordination tasks.
The proposed architecture is specially suited for
monitoring ground objects whose dimensions
are relatively small when compared to the dimensions of the scene.
This assumption makes it possible to speculate
a ground object 3D position from the single view,
which consequently allows a robust correspondence approach.
The architecture has been implemented
in an experimental global vision system,
whose final objective is to provide localization information
for a group of simple robots without vision sensors.
The system was preliminary tested in the laboratory environment,
and the obtained experimental results are presented.