Embedded System for Multiple-view Tracking

Context and Background:  Tracking systems are essential in computer vision, with applications in surveillance, health-care, etc. Recent developments in video acquisition hardware and the consequent relaxation of its price have made possible a deployment of multiple cameras. The availability of multiple points of view and the redundancy of information allow a more precise monitoring of complex scenes.


Problem Statement: Object/Human tracking using images is one of the necessary research topics in dynamic scene analysis, since tracking is typically the first step before applying higher level scene analysis algorithms. This proposal is concerned to develop the hardware needed for a multi-view tracking algorithm. The structure of the system includes two spherical robots, each of them equipped with several cameras distributed over their surfaces. The systems includes also some other sensors such as inertial sensor, barometers etc. The intention is to design the hardware capable of acquiring data from the multiple cameras and the other sensors in an embedded system.


Outcomes and Deliverables:

The major outcomes of the project are:

  • Embedded hardware for multiple sensor data acquisition
  • Embedded system design skills


The deliverables of the projects include:

  • Conduct a detailed survey of the embedded systems dedicated to 3D reconstruction and tracking using multiple sensors.
  • Development of hardware capable of capturing data from multiple set of sensors, mounted on the two spherical robots.
  • Development of a sufficient communication system to transfer the acquired data from the on-the-board sensors in each robot to a station.
  • Dissemination and Technical report on findings.



  1. Performing a state-of-art on the available hardware, sensors and boards.
  2. Designing two working prototypes to capture data from the environment, each of them to be mounted on a robot.
  3. Simulate and demonstrate the working prototypes
  4. Establishing communication protocols and hardware to transfer captured data from the robots to a station PC.
  5. Experimentally demonstrate the embedded systems working.
  6. Technical report and Dissemination


Pre-requisites Required for Student:

  • Being familiar with the concepts of digital systems.
  • Interest in hardware design.



  • Professor Jorge Dias; Institute of Systems and Robotics, University of Coimbra, Jorge@isr.uc.pt
  • Hadi AliAkbarpour; Institute of Systems and Robotics, University of Coimbra, Hadi@isr.uc.pt