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Accurate fusion of robot, camera and wireless sensors for surveillance applications

Gilbert, A, Illingworth, J, Bowden, R, Capitan, J and Merino, L (2009) Accurate fusion of robot, camera and wireless sensors for surveillance applications In: ICCV 2009, 2009-09-27 - 2009-10-04, Kyoto, Japan.

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Abstract

Often within the field of tracking people within only fixed cameras are used. This can mean that when the the illumination of the image changes or object occlusion occurs, the tracking can fail. We propose an approach that uses three simultaneous separate sensors. The fixed surveillance cameras track objects of interest cross camera through incrementally learning relationships between regions on the image. Cameras and laser rangefinder sensors onboard robots also provide an estimate of the person. Moreover, the signal strength of mobile devices carried by the person can be used to estimate his position. The estimate from all these sources are then combined using data fusion to provide an increase in performance. We present results of the fixed camera based tracking operating in real time on a large outdoor environment of over 20 non-overlapping cameras. Moreover, the tracking algorithms for robots and wireless nodes are described. A decentralized data fusion algorithm for combining all these information is presented.

Item Type: Conference or Workshop Item (Paper)
Additional Information: Copyright 2009 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Divisions: Faculty of Engineering and Physical Sciences > Electronic Engineering > Centre for Vision Speech and Signal Processing
Depositing User: Symplectic Elements
Date Deposited: 31 May 2012 08:31
Last Modified: 23 Sep 2013 19:24
URI: http://epubs.surrey.ac.uk/id/eprint/531448

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