Simultaneous sensor calibration and path estimation

This thesis presents two topics related to the simultaneous calibration of a network of imaging sensors, i.e. cameras, and the recovery of the trajectory of an object moving among those sensors. The non-overlapping fields of view for the cameras do not cover the entire scene, and therefore there are time steps for which no measurements are available. A Bayesian framework is imposed on the problem in order to compute the MAP (maximum a posteriori) estimate, the solution that maximizes the probability of the sensor network configuration and target trajectory given the measurement set. The first topic discussed is model order reduction to decrease the number of unknown parameters in the motion and measurement models, thereby reducing the computational requirements of the optimization algorithm. It is possible to reduce the dimension of the search space, with no loss in accuracy, by treating the estimation of target's trajectory while it is outside the field of view of the network as an independent sub-problem that can be solved at a later time. Additionally, one can further reduce the dimension of the search space by taking advantage of the fact that the measurement noise is negligible compared to other sources of error in the problem, and subsequently the measurements can be treated as equality constraints in the optimization.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2006

Author dc:creator

• Rudoy, Melanie Beth

Advisor dc:contributor.advisor

• Charles E. Rohrs.

• Electrical Engineering and Computer Science.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/37847

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/37847