Abstract
In recent years, distributed computer vision has gained a lot of attention within the computer vision community for applications such as video surveillance and object tracking. The collective information gathered by multiple cameras that are strategically placed has many advantages. For example, aggregation of information from multiple viewpoints reduces the uncertainty about the scene. Further, there is no single point of failure, thus the system as a whole could continue to perform the task at hand. However, the advantages arising out of such cooperation can be realized only by timely sharing of the information between them. This paper discusses the design of a distributed vision system that enables several heterogeneous sensors with different processing rates to exchange information in a timely manner in order to achieve a common goal, say tracking of multiple human subjects and mobile robots in an indoor smart environment.
In our fault-tolerant distributed vision system, a resource manager manages individual cameras and buffers the time-stamped object candidates received from them. A User Agent with a given task specification approaches the resource manager, first for knowing the available resources (cameras) and later for receiving the object candidates from the resources of its interest. Thus the resource manager acts as a proxy between the user agents and cameras, thereby freeing the cameras to do dedicated feature detection and extraction only. In such a scenario, many failures are possible. For example, one of the cameras may have a hardware failure or it may lose the target, which moved away from its field of view. In this context, important issues such as failure detection and handling, synchronization of data from multiple sensors and sensor reconfiguration by view planning are discussed in the paper. Experimental results with real scene images will be given.
Abstract
This work is supported by DARPA/ITO Mobile Autonomous Robots S/W (MARS) (Contract Number DOD DABT63-99-1-004) and Software for Distributed Robotics (SDR) (Contract Number DOD DABT63-99-1-0022)
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Karuppiah, D.R., Zhu, Z., Shenoy, P., Riseman, E.M. (2001). A Fault-Tolerant Distributed Vision System Architecture for Object Tracking in a Smart Room. In: Schiele, B., Sagerer, G. (eds) Computer Vision Systems. ICVS 2001. Lecture Notes in Computer Science, vol 2095. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-48222-9_14
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