Experimental study of gradient-based visual coverage control on SO(3) toward moving object/human monitoring

Marc Forstenhaeusler, Riku Funada, Takeshi Hatanaka, Masayuki Fujita

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)


This paper presents experimental studies of coverage control for networked camera sensors. Regarding the issue, one of our previous works considered the scenario where the camera sensors with controllable orientations are distributed over the 3-D space to monitor 2-D environment. Then, we presented a visual coverage control scheme based on the gradient descent techniques on SO(3) in combination with an estimation process of the image density function describing the importance of each point over the image. In this paper, we build a testbed with four Pan-Tilt (PT) cameras and demonstrate the total process including the image acquisition, density estimation, gradient computation and camera physical motion. In particular, we show applicability of the presented scheme to a scenario of the human behavior monitoring. In addition, the density function is given in the form of a polynomial function in order to overcome the drawback of the above density estimation process that the magnitude of the motion at each pixel cannot be directly reflected to the resulting density. It is shown through experiments that the new density estimation method together with the new gradient outperforms the conventional method when the environment is rapidly changing.

Original languageEnglish
Title of host publicationACC 2015 - 2015 American Control Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781479986842
Publication statusPublished - 2015 Jul 28
Externally publishedYes
Event2015 American Control Conference, ACC 2015 - Chicago, United States
Duration: 2015 Jul 12015 Jul 3

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2015 American Control Conference, ACC 2015
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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