Tracking performance under time delay and asynchronicity in distributed camera systems

Authors:
Klementyna Szwaykowska;Fumin Zhang;Wayne Wolf
Affiliations:
School of Electrical and Computer Engineering, Georgia Institute of Technology;School of Electrical and Computer Engineering, Georgia Institute of Technology;School of Electrical and Computer Engineering, Georgia Institute of Technology
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

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Abstract

Distributed camera systems are typically used to simultaneously track multiple targets. Communication between cameras enables the ability to monitor targets in a complex environment where occlusion happens. Asynchronicity and time delay are among the most important factors that affect tracking error. We provide a feedback law controlling the pan and tilt of each camera to track the centroid of a cluster of point targets in the field of view. Assuming that the estimates for target motion are available only infrequently and asynchronously when occlusion happens, we compute a worst-case lower bound on the frequency for exchanging estimates between cameras. Our results may help camera system designers to determine the response time and tracking ability for distributed camera systems.