Real-time estimation of geometrical transformation between views in distributed smart-cameras systems

We present a method to automatically estimate the geometric relations among different views of cameras with partially overlapping fields of view using the position of detected moving objects visible at the same time in two or more views. The correspondences among objects are found by comparing their appearance based on dominant colour descriptors. The geometric transformation are computed iteratively and may be used to solve the consistent labelling problem. As a significant part of the processing is performed on smart cameras, the method has been conceived by taking into account the limited resources and low computational capability of the aforementioned devices. Experiments are done on publicly available datasets in order to show the accuracy of the geometric relations found by our method.