2013 Systems and Control Seminar

2013 Systems and Control Seminar

1st System Control Seminar 2013



Date May 8, 2013 11:20〜11:55
Place Tokyo Institute of Thechnology O-okayama W8 E-1001

Speaker Prof. Jay A. Farrell
Dept. of Electrical Engineering University of California, Riverside
Title "Target Tracking in Automated Distributed Camera Networks"
Abstract


Despite large quantities of data, the performance of scene understanding algorithms in camera networks often suffers due to the inability to effectively acquire features on targets. This presentation discusses an approach for collaboratively and dynamically controlling the pan, tilt, zoom (PTZ) parameters of a distributed camera network to maximize various scene analysis performance criteria, like tracking and recognition accuracy, through opportunistic acquisition of high quality images. The overall approach requires distributed and cooperative approaches for three processes: feature-to-target association, target state estimation, and PTZ optimization. The presentation will present an introduction and overview of such systems, present a Bayesian-risk based formulation of the PTZ distributed optimization problem with a game-theoretic solution that allows the global problem to be decoupled into local problems, introduce the idea of naivety (limited local target observabilit y) that frequently occurs in distributed camera networks, and present a newly derived information-weighted consensus filter (ICF) that addresses the issue of naivety. We compare the performance of the ICF with existing consensus algorithms analytically, as well as experimentally by considering a distributed camera network under various operating conditions.