Coordinated sensing and tracking for mobile camera platforms
Coordinated sensing and tracking for mobile camera platforms
复制标题
移动相机平台的协调传感和跟踪
DOI：
10.1109/acc.2012.6315663
复制
发表时间：
2012
期刊：
影响因子：
--
通讯作者：
A. Roy
中科院分区：
文献类型：
--
作者：
Chong Ding;Akshay A. Morye;J. Farrell;A. Roy
本文主要研究多个移动的PTZ摄像机平台协同跟踪地面随机运动目标的最优路径选择和摄像机控制策略。车辆被建模为以固定速度和高度行驶的平面Dubins车辆。使用扩展卡尔曼一致性滤波器来跟踪目标，该滤波器估计目标在地平面上的位置和相关联的误差协方差。使用动态规划，我们计算最佳的协调控制策略，最大限度地减少预期融合的地理定位误差协方差。该过程的输出导致车辆的轨迹和摄像机的PTZ设置。我们展示了地面和空中车辆跟踪的目标，其动态模型由一个随机差分方程的结果，并讨论了结果的影响。这项工作的主要贡献是在开发一个最佳的战略，同时车辆导航和摄像机参数选择，以最大限度地提高跟踪性能的随机目标，需要考虑失去目标的风险。
This work focuses on developing optimal routing and camera control strategies for multiple mobile PTZ camera platforms cooperatively tracking a stochastic target moving on the ground. The vehicles are modeled as planar Dubins vehicles traveling at a fixed speed and height. The target is tracked using an Extended Kalman Consensus Filter that estimates the target location on the ground plane and the associated error covariance. Using dynamic programming, we compute optimal coordinated control policies which minimize the expected fused geolocation error covariance. The output of this process leads to the trajectories of the vehicles and the PTZ settings of the cameras. We show results on both ground and air vehicles tracking a target whose dynamics is modeled by a stochastic difference equation and discuss the implications of the results. The main contribution of the work is in the development of an optimal strategy for simultaneous vehicle navigation and camera parameter selection to maximize the tracking performance of stochastic targets where the risk of losing the target needs to be considered.