Average consensus-based asynchronous tracking

Target tracking in a network of wireless cameras may fail if data are captured or exchanged asynchronously. Unlike traditional sensor networks, video processing may generate significant delays that also vary from camera to camera. Moreover, the continuous and rapid change of the dynamics of the consensus variable (the target state) makes tracking even more challenging under these conditions. To address this problem, we propose a consensus approach that enables each camera to predict information of other cameras with respect to its own capturing time-stamp based on the received information. This prediction is key to compensate for asynchronous data exchanges. Simulations show the performance improvement with the proposed approach compared to the state of the art in the presence of asynchronous frame captures and random processing delays.