Recent advances in distributed collaborative surveillance

Mahesh Saptharishi; K. Bhat; Christopher P. Diehl; C. Spence Oliver; Marios Savvides; Alvaro Soto; John M. Dolan; Pradeep K. Khosla

doi:10.1117/12.392568

21 July 2000 Recent advances in distributed collaborative surveillance

Mahesh Saptharishi, K. Bhat, Christopher P. Diehl, C. Spence Oliver, Marios Savvides, Alvaro Soto, John M. Dolan, Pradeep K. Khosla

Author Affiliations +

Proceedings Volume 4040, Unattended Ground Sensor Technologies and Applications II; (2000) https://doi.org/10.1117/12.392568
Event: AeroSense 2000, 2000, Orlando, FL, United States

Abstract

In Carnegie Mellon University's CyberScout project, we are developing mobile and stationary sentries capable of autonomous reconnaissance and surveillance. In this paper, we describe recent advances in the areas of efficient perception algorithms (detection, classification, and correspondence) and mission planning. In detection, we have achieved improved rejection of camera jitter and environmental variations (e.g., lighting, moving foliage) through multi-modal filtering, and we have implemented panoramic backgrounding through pseudo-real-time mosaicing. In classification, we present methods for discriminating between individual, groups of individuals, and vehicles, and between individuals with and without backpacks. In correspondence, we describe an accurate multi-hypothesis approach based on both motion and appearance. Finally, in mission planning, we describe mapbuilding using multiple sensory cues and a computationally efficient decentralized planner for multiple platforms.

Citation Download Citation

Mahesh Saptharishi, K. Bhat, Christopher P. Diehl, C. Spence Oliver, Marios Savvides, Alvaro Soto, John M. Dolan, and Pradeep K. Khosla "Recent advances in distributed collaborative surveillance", Proc. SPIE 4040, Unattended Ground Sensor Technologies and Applications II, (21 July 2000); https://doi.org/10.1117/12.392568

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