Optimal Sensor Placement for Cooperative Distributed Vision

Luis Ernesto Navarro-Serment, John M. Dolan, and Pradeep Khosla
Proceedings of the International Conference on Robotics and Automation (ICRA), May, 2004, pp. 939-944.


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Abstract
This paper describes a method for observing maneuvering targets using a group of mobile robots equipped with video cameras. These robots are part of a team of small-size (7x7x7 cm) robots configured from modular components that collaborate to accomplish a given task. The cameras seek to observe the target while facing it as much as possible from their respective viewpoints. This work considers the problem of scheduling and maneuvering the cameras based on the evaluation of their current positions in terms of how well can they maintain a frontal view of the target. We describe our approach, which distributes the task among several robots and avoids extensive energy consumption on a single robot. We explore the concept in simulation and present results.

Keywords
sensor placement, cooperative sensors, distributed vision, automatic surveillance

Notes
Associated Center(s) / Consortia: National Robotics Engineering Center
Associated Lab(s) / Group(s): Advanced Mechatronics Lab
Number of pages: 6

Text Reference
Luis Ernesto Navarro-Serment, John M. Dolan, and Pradeep Khosla, "Optimal Sensor Placement for Cooperative Distributed Vision," Proceedings of the International Conference on Robotics and Automation (ICRA), May, 2004, pp. 939-944.

BibTeX Reference
@inproceedings{Navarro-Serment_2004_5066,
   author = "Luis Ernesto Navarro-Serment and John M Dolan and Pradeep Khosla",
   title = "Optimal Sensor Placement for Cooperative Distributed Vision",
   booktitle = "Proceedings of the International Conference on Robotics and Automation (ICRA)",
   pages = "939-944",
   month = "May",
   year = "2004",
}