Distributed and Decentralized Multicamera Tracking

Abstract

We discussed emerging multicamera tracking algorithms that find their roots in signal processing, wireless sensor networks, and computer vision. Based on how cameras share estimates and fuse information, we classified these trackers as distributed, decentralized, and centralized algorithms. We also highlighted the challenges to be addressed in the design of decentralized and distributed tracking algorithms. In particular, we showed how the constraints derived from the topology of the networks and the nature of the task have favored so far decentralized architectures with multiple local fusion centers. Because of the availability of fewer fusion centers compared to distributed algorithms, decentralized algorithms can share larger amounts of data (e.g., occupancy maps) and can back-project estimates among views and fusion centers to validate results. Distributed tracking uses algorithms that can operate with smaller amounts of data at any particular node and obtain state estimates through iterative fusion. Despite recent advances, there are important issues to be addressed to achieve efficient multitarget multicamera tracking. Current algorithms either assume the track-to-measurement association information to be available for the tracker or operate on a small (known) number of targets. Algorithms performing track-to-measurement association for a time-varying number of targets with higher accuracy usually incur much higher costs, whose reduction is an important open problem to be addressed in multicamera networks.