MPI-Video infrastructure for dynamic environments

We describe an infrastructure for multiple perspective interactive video (MPI-Video) systems. An MPI-Video system assimilates data from multiple disparate sensors, allowing a user to interact with them in a meaningful way. At the heart of an MPI-Video system is an environment model (EM) that both assimilates data from multiple sensors and acts as an information server to clients. A collection of strongly-coupled dynamic state estimation algorithms does the assimilation. Results show that our infrastructure is easy to configure, easy to extend, and is effective at modeling a dynamic environment.