<s>
SwisTrack	B-Language
is	O
a	O
tool	O
for	O
tracking	O
robots	B-Algorithm
,	O
humans	O
,	O
animals	O
and	O
objects	O
using	O
a	O
camera	O
or	O
a	O
recorded	O
video	O
as	O
input	O
source	O
.	O
</s>
<s>
It	O
uses	O
Intel	O
's	O
OpenCV	B-Language
library	O
for	O
fast	O
image	B-Algorithm
processing	I-Algorithm
and	O
contains	O
interfaces	O
for	O
USB	B-Protocol
,	O
FireWire	B-Protocol
and	O
GigE	O
cameras	O
,	O
as	O
well	O
as	O
AVI	O
files	O
.	O
</s>
<s>
The	O
architecture	O
of	O
SwisTrack	B-Language
is	O
flexible	O
to	O
allow	O
the	O
user	O
to	O
track	O
(	O
marked	O
and	O
marker-less	O
)	O
objects	O
in	O
many	O
situations	O
.	O
</s>
<s>
So-called	O
components	O
are	O
stuck	O
together	O
within	O
the	O
component	O
pipeline	O
(	O
like	O
Lego	B-Language
bricks	O
)	O
and	O
configured	O
.	O
</s>
<s>
SwisTrack	B-Language
already	O
comes	O
with	O
a	O
series	O
of	O
components	O
,	O
but	O
for	O
specialized	O
tasks	O
,	O
programmers	O
are	O
free	O
to	O
implement	O
their	O
own	O
components	O
.	O
</s>
<s>
Position	O
and	O
trajectory	O
information	O
can	O
be	O
retrieved	O
via	O
TCP/IP	B-Protocol
in	O
NMEA	B-Protocol
0183	I-Protocol
format	O
.	O
</s>
<s>
SwisTrack	B-Language
has	O
mainly	O
been	O
developed	O
by	O
the	O
and	O
the	O
at	O
EPFL	O
in	O
Lausanne	O
,	O
Switzerland	O
.	O
</s>
