SwisTrack - a flexible open source tracking software for multi-agent systems

Vision-based tracking is used in nearly all robotic laboratories for monitoring and extracting of agent positions, orientations, and trajectories. However, there is currently no accepted standard software solution available, so many research groups resort to developing and using their own custom software. In this paper, we present Version 4 of SwisTrack, an open source project for simultaneous tracking of multiple agents. While its broad range of pre-implemented algorithmic components allows it to be used in a variety of experimental applications, its novelty stands in its highly modular architecture. Advanced users can therefore also implement additional customized modules which extend the functionality of the existing components within the provided interface. This paper introduces SwisTrack and shows experiments with both marked and marker-less agents.

Authors

• Thomas Lochmatter
• Pierre Roduit
• Christopher M. Cianci
• Nikolaus Correll
• Jacques Jacot
• Alcherio Martinoli

Keywords

• Robots
• Cameras
• Robot vision systems
• Gray-scale
• Pixel
• Pipelines
• Calibration
• Open-source
• Modular Architecture
• Algorithmic Components
• Research Laboratory
• Graphical User Interface
• Grayscale Images
• Visual Feedback
• Binary Image
• Camera Images
• Calibration Method
• Calibration Process
• Overlap Region
• Cockroach
• Calibration Points
• Component Parameters
• Position Of The Robot
• Implementation Of Components
• Frame Acquisition
• Image Borders
• Tracking Applications
• Overhead Camera
• Binary Channel
• Polytechnique