This paper presents a novel method for the coordinated selection and positioning of groups of active-vision cameras for the autonomous surveillance of an object-of-interest as it travels through a multi-object workspace with an a priori unknown trajectory. Several approaches have been previously proposed to address the problem of sensor selection and control. However, these have primarily relied on off-line planning methods and only infrequently utilized on-line planning to compensate for unexpected variations in a target’s trajectory. The method proposed in this paper, on the other hand, uses a real-time dispatching algorithm, which eliminates the need for any a priori knowledge of the target’s trajectory and, thus, is robust to unexpected variations in the environment. Experiments have shown that the use of dynamic sensors along with a dispatching algorithm can tangibly improve the performance of an active-surveillance system.
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ASME 2004 International Mechanical Engineering Congress and Exposition
November 13–19, 2004
Anaheim, California, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
0-7918-4706-3
PROCEEDINGS PAPER
Active-Vision for the Autonomous Surveillance of Dynamic, Multi-Object Environments Available to Purchase
Michael D. Naish,
Michael D. Naish
University of Western Ontario
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Beno Benhabib
Beno Benhabib
University of Toronto
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Ardevan Bakhtari
University of Toronto
Michael D. Naish
University of Western Ontario
Beno Benhabib
University of Toronto
Paper No:
IMECE2004-61308, pp. 1319-1324; 6 pages
Published Online:
March 24, 2008
Citation
Bakhtari, A, Naish, MD, & Benhabib, B. "Active-Vision for the Autonomous Surveillance of Dynamic, Multi-Object Environments." Proceedings of the ASME 2004 International Mechanical Engineering Congress and Exposition. Dynamic Systems and Control, Parts A and B. Anaheim, California, USA. November 13–19, 2004. pp. 1319-1324. ASME. https://doi.org/10.1115/IMECE2004-61308
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