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

Marc Forstenhaeusler, Riku Funada, Takeshi Hatanaka, Masayuki Fujita

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルACC 2015 - 2015 American Control Conference
出版社Institute of Electrical and Electronics Engineers Inc.
ページ2125-2130
ページ数6
ISBN(電子版)9781479986842
DOI
出版ステータスPublished - 2015 7月 28
外部発表はい
イベント2015 American Control Conference, ACC 2015 - Chicago, United States
継続期間: 2015 7月 12015 7月 3

出版物シリーズ

名前Proceedings of the American Control Conference
2015-July
ISSN(印刷版)0743-1619

Other

Other2015 American Control Conference, ACC 2015
国/地域United States
CityChicago
Period15/7/115/7/3

ASJC Scopus subject areas

  • 電子工学および電気工学

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