A Fully Decentralized Multi-Sensor System For Tracking and Surveillance
A Fully Decentralized Multi-Sensor System For Tracking and Surveillance
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DOI：
10.1177/027836499301200102
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发表时间：
1993-02
期刊：
影响因子：
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通讯作者：
B. Rao;Hugh F. Durrant-Whyte;J. A. Sheen
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文献类型：
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作者：
B. Rao;Hugh F. Durrant-Whyte;J. A. Sheen
在许多跟踪和监视系统中，多传感器配置用于提供更大范围的测量信息，并提高系统在单个传感器故障下的生存能力。目前在这种系统中使用的大多数架构依赖于具有发生全局数据融合的中央处理器或传感器之间的所有消息必须通过的中央通信介质。这样的集中式架构引起了通信和计算瓶颈的问题，并且如果中央设施发生故障，则易受整个系统故障的影响。在这篇文章中，我们描述了一个多传感器监视系统，实现了高度的生存能力，采用分散的传感架构（Durrant-Whyte，Rao和Hu 1990）。使用CCD摄像机和光学屏障，该系统能够（在真实的时间内）跟踪在工厂房间内移动的人和机器人。分散式传感架构采用基于Transputer的传感器节点网络的形式，每个传感器节点都有自己的处理设施，这些传感器节点一起不需要任何中央处理器、任何中央通信设施或任何公共时钟。在这种体系结构中，计算在本地进行，并且在需要时在任何两个节点之间进行通信。监控系统的出发点是一个算法，允许完全分散的多传感器卡尔曼滤波方程之间的一些传感节点。我们开发的算法，以确保节点间的通信最小化，可以发生在没有任何事先同步节点之间。通过设计一个合适的航迹管理方案，我们能够扩展系统，以科普多目标跟踪。最后，将实现中使用的特定传感器与算法进行了接口，并给出了工作系统的结果。
In many tracking and surveillance systems, multisensor config urations are used to provide a greater breadth of measurement information and also to increase the capability of the system to survive individual sensor failure. Most architectures currently used in such systems rely on having either a central processor where global data fusion takes place or a central communi cations medium through which all messages between sensors must pass. Such centralized architectures give rise to problems with communication and computational bottlenecks and are susceptible to total system failure should the central facility fail. In this article we describe a multisensor surveillance system that achieves a high degree of survivability by employing a decentralized sensing architecture (Durrant-Whyte, Rao, and Hu 1990). Using CCD cameras and optical barriers the system is able to track (in real time) people and robots as they move around a factory room. The decentralized sensing architecture takes the form of a network of Transputer-based sensor nodes, each with its own processing facility, that together do not re quire any central processor, any central communication facility, or any common clock. In this architecture, computation is per formed locally, and communication occurs between any two nodes as and when required. The starting point for the surveillance system is an algo rithm that allows complete decentralization of the multisensor Kalman filter equations among a number of sensing nodes. We develop the algorithm to ensure that internodal commu nication is minimized and can take place without any prior synchronization between nodes. By designing a suitable track management scheme, we are able to extend the system to cope with multitarget tracking. Finally, the specific sensors used in the implementation are interfaced to the algorithm, and the results of the working system are given.