Home Search AAA

The Centre of Research Excellence for Advanced Cooperative Systems (ACROSS) is an interdepartmental research centre at the University of Zagreb Faculty of Electrical Engineering and Computing. The centre performs research in cooperative systems related to robotics, networked embedded systems and renewable energy systems. Its establishment and operation is funded by the European FP-7 Capacities "Research Potential" program [285939, FP7-REGPOT-2011-1].

Published: 2014-03-26 at 10:07
Colloquium " Tracking of...

The Centre of Research Excellence for Advanced Cooperative Systems (ACROSS) invites you to the joint colloquium of ACROSS and VISTA project

"Tracking of multiple moving objects on the unit sphere using a multiple-camera system on a mobile robot"

held by Josip Ćesić, mag. ing.

Colloquium details
Title Tracking of multiple moving objects on the unit sphere using a multiple-camera system on a mobile robot
Speakers Josip Ćesić, mag. ing.
Date 27. 3. 2014. 14:15 - 15:00
Location Faculty of Electrical Engineering and Computing, TCR

More about the speaker and colloquium can be found in the detailed news content.

Detection and tracking of moving objects with camera systems mounted on a mobile robot presents a formidable problem since the ego-motion of the robot and the moving objects jointly form a challengingly discernible motion in the image. Here we are concerned with multiple-camera systems, namely the Ladybug2 camera, whose perspective images were used to detect motion and subsequently perform the tracking of multiple objects on the sphere. This enabled us to account for the continuity of the scene which is achieved by the sensor in an image stitching process on the sphere. The objects are tracked on the sphere with a Bayesian filter based on the von Mises-Fisher distribution and the data association is achieved by the global nearest neighbor method, for which the distance matrix is constructed by deriving the Rényi alpha-divergence for the von Mises-Fisher distribution. The prospects of the proposed method will be presented via experiments on a synthetic as well as real-world data.


Josip Ćesić has received his BSc and MSc degree in electrical engineering and information technology from University of Zagreb, Faculty of Electrical Engineering and Computing (UNIZG-FER) in 2011 and 2013, respectively. He fisnished the third semester of his master program at Chalmers University of Technology, Sweden, as an exchange student. He is currently employed at the Department of Control and Computer Engineering at UNIZG-FER as a research engineer within AMOR research group. His main research interests are in the areas of mobile robotics, estimation theory and image processing.


Mario Bukal
News list

ACROSS project has received research funding from the Seventh Framework Programme of the European Union (Grant Agreement No. 285939 FP7-REGPOT-2011-1).


Equipment promotion video

ACROSS brochure is available here.