Departmental Papers (ESE)
Image
Streaming Media
Abstract
A challenge of pan/tilt/zoom (PTZ) camera networks for efficient and flexible visual monitoring is automated active network reconfiguration in response to environmental stimuli. In this paper, given an event/activity distribution over a convex environment, we propose a new provably correct reactive coverage control algorithm for PTZ camera networks that continuously (re)configures camera orientations and zoom levels (i.e., angles of view) in order to locally maximize their total coverage quality. Our construction is based on careful modeling of visual sensing quality that is consistent with the physical nature of cameras, and we introduce a new notion of conic Voronoi diagrams, based on our sensing quality measures, to solve the camera network allocation problem: that is, to determine where each camera should focus in its field of view given all the other cameras' configurations. Accordingly, we design simple greedy gradient algorithms for both continuous- and discrete-time first-order PTZ camera dynamics that asymptotically converge a locally optimal coverage configuration. Finally, we provide numerical and experimental evidence demonstrating the effectiveness of the proposed coverage algorithms.
Sponsor Acknowledgements
This work was supported in part by AFRL grant FA865015D1845 (subcontrac
Document Type
Conference Paper
Subject Area
GRASP, Kodlab
Date of this Version
2-25-2018
Copyright/Permission Statement
This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or 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 must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
Bib Tex
BibTeX:
@InProceedings{arslan_min_koditschek_ICRA2018A,
author = {Omur Arslan and Hancheng Min and Daniel E. Koditchek},
title = {Voronoi-Based Coverage Control of Pan/Tilt/Zoom Camera Networks},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
year = {2018}
}
Date Posted: 16 November 2018
Comments
This paper is nominated for the Best Paper Award on Multi-Robot Systems at the 2018 IEEE International Conference on Robotics and Automation (ICRA2018).