A fully decentralized multi-sensor system for tracking and surveillance
Abstract
A multisensor surveillance system that achieves a high degree of survivability by employing dencentralized sensing architecture of Durrant-Whyte, Rao, and Hu is described. Using CCD (Charge Coupled Device) 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, which together do not require any central processor, any central communication facility, or any common clock. In this architecture, computation is performed locally and communication occurs between any two nodes as and when required. The starting point for the surveillance system is an algorithm that allows complete decentralization of the multisensor Kalman filter equations amongst a number of sensing nodes. The algorithm is developed to ensure that internodal communication is minimized and can take place without any prior synchronization between nodes. By designing a suitable track management scheme, the system is extended to cope with multitarget tracking. The specific sensors used in the implementation are interfaced to the algorithm and results of the working system are given.
- Publication:
-
NASA STI/Recon Technical Report N
- Pub Date:
- 1991
- Bibcode:
- 1991STIN...9217926R
- Keywords:
-
- Algorithms;
- Kalman Filters;
- Multisensor Applications;
- Surveillance;
- Tracking (Position);
- Tracking Networks;
- Transputers;
- Cameras;
- Charge Coupled Devices;
- Instrumentation and Photography