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Active-Vision for the Autonomous Surveillance of Dynamic, Multi-Object Environments

[+] Author Affiliations
Ardevan Bakhtari, Beno Benhabib

University of Toronto

Michael D. Naish

University of Western Ontario

Paper No. IMECE2004-61308, pp. 1319-1324; 6 pages
doi:10.1115/IMECE2004-61308
From:
  • ASME 2004 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Anaheim, California, USA, November 13 – 19, 2004
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4706-3 | eISBN: 0-7918-4178-2, 0-7918-4179-0, 0-7918-4180-4
  • Copyright © 2004 by ASME

abstract

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.

Copyright © 2004 by ASME
Topics: Surveillance

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