A SINGLE PAN AND TILT CAMERA ARCHITECTURE FOR INDOOR POSITIONING AND TRACKING

T. Gaspar, P. Oliveira

Abstract

A new architecture for indoor positioning and tracking is proposed, based on a single low cost pan and tilt camera, where three main modules can be identified: one related to the interface with the camera, supported on parameter estimation techniques; other, responsible for isolating and identifying the target, based on advanced image processing techniques, and a third, that resorting to nonlinear dynamic system suboptimal state estimation techniques, performs the tracking of the target and estimates its position, and linear and angular velocities. To assess the performance of the proposed methods and this new architecture, a software package was developed. An accuracy of 20 cm was obtained in a series of indoor experimental tests, for a range of operation of up to ten meter, under realistic real time conditions.

References

  1. Athans, M. and Chang, C. (1976). Adaptive Estimation and Parameter Identification using Multiple Model Estimation Algorithm. MIT Lincoln Lab., Lexington, Mass.
  2. Bar-Shalom, Y., Rong-Li, X., and Kirubarajan, T. (2001). Estimation with Applications to Tracking and Navigation: Theory Algorithms and Software. John Wiley & Sons, Inc.
  3. Borenstein, J., Everett, H. R., and Feng, L. (1996). Where am I? Sensors and Methods for Mobile Robot Positioning. Editado e compilado por J. Borenstein.
  4. Faugeras, O. and Luong, Q. (2001). The geometry of multiples images. MIT Press.
  5. Gaspar, T. (2008). Sistemas de seguimento para aplicac¸o˜es no interior. Master's thesis, Instituto Superior Técnico.
  6. Gelb, A. (2001). Applied Optimal Estimation. MIT Press, Cambridge, Massachusetts.
  7. Kass, M., Witkin, A., and Terzopoulos, D. (1987). Snakes: Active contour models. Int. J. Comput. Vis., 1:321- 331.
  8. Kolodziej, K. and Hjelm, J. (2006). Local Positioning Systems: LBS Applications and Services. CRC Press.
  9. Leymarie, F. and Levine, M. D. (1993). Tracking deformable objects in the plane using an active contour model. IEEE Trans. Pattern Anal. Machine Intell., 15:617-634.
  10. Li, X. R. and Jilkov, V. P. (2003). Survey of maneuvering target tracking. part i: Dynamic models. IEEE Transactions on Aerospace and Electronic Systems, pages 1333-1364.
  11. McInerney, T. and Terzopoulos, D. (1995). A dynamic finite element surface model for segmentation and tracking in multidimensional medical images with application to cardiac 4d image analysis. Comput. Med. Imag. Graph, 9:69-83.
  12. Terzopoulos, D. and Fleischer, K. (1988). Deformable models. Vis. Comput., 4:306-331.
  13. Thormahlen, T., Broszio, H., and Wassermann, I. (2003). Robust line-based calibration of lens distortion from a single view. Mirage 2003, pages 105-112.
Download


Paper Citation


in Harvard Style

Gaspar T. and Oliveira P. (2009). A SINGLE PAN AND TILT CAMERA ARCHITECTURE FOR INDOOR POSITIONING AND TRACKING . In Proceedings of the Fourth International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2009) ISBN 978-989-8111-69-2, pages 523-530. DOI: 10.5220/0001803105230530


in Bibtex Style

@conference{visapp09,
author={T. Gaspar and P. Oliveira},
title={A SINGLE PAN AND TILT CAMERA ARCHITECTURE FOR INDOOR POSITIONING AND TRACKING},
booktitle={Proceedings of the Fourth International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2009)},
year={2009},
pages={523-530},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001803105230530},
isbn={978-989-8111-69-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2009)
TI - A SINGLE PAN AND TILT CAMERA ARCHITECTURE FOR INDOOR POSITIONING AND TRACKING
SN - 978-989-8111-69-2
AU - Gaspar T.
AU - Oliveira P.
PY - 2009
SP - 523
EP - 530
DO - 10.5220/0001803105230530