Detection and Tracking of Dynamic Objects by Using a Multirobot System: Application to Critical Infrastructures Surveillance

Autor: Jaime del Cerro Giner, Antonio Barrientos, Gonzalo R. Rodríguez-Canosa
Rok vydání: 2014
Předmět:
0209 industrial biotechnology
Robot
Computer science
Real-time computing
02 engineering and technology
critical infrastructure surveillance
computer.software_genre
Biochemistry
Article
Analytical Chemistry
Laser scanner
Object-class detection
020901 industrial engineering & automation
Information
Critical infrastructure surveillance
11. Sustainability
0202 electrical engineering
electronic engineering
information engineering
multirobot
Electrical and Electronic Engineering
Vehicle detection
Instrumentation
Moving-Objects
business.industry
Multirobot
Mobile robot
Tracking system
Kalman filter
DATMO
Object (computer science)
Atomic and Molecular Physics
and Optics
Object detection
Identification (information)
020201 artificial intelligence & image processing
Data mining
Camera
business
computer
Zdroj: Digital.CSIC. Repositorio Institucional del CSIC
instname
Sensors; Volume 14; Issue 2; Pages: 2911-2943
Sensors (Basel, Switzerland)
ISSN: 1424-8220
DOI: 10.3390/s140202911
Popis: The detection and tracking of mobile objects (DATMO) is progressively gaining importance for security and surveillance applications. This article proposes a set of new algorithms and procedures for detecting and tracking mobile objects by robots that work collaboratively as part of a multirobot system. These surveillance algorithms are conceived of to work with data provided by long distance range sensors and are intended for highly reliable object detection in wide outdoor environments. Contrary to most common approaches, in which detection and tracking are done by an integrated procedure, the approach proposed here relies on a modular structure, in which detection and tracking are carried out independently, and the latter might accept input data from different detection algorithms. Two movement detection algorithms have been developed for the detection of dynamic objects by using both static and/or mobile robots. The solution to the overall problem is based on the use of a Kalman filter to predict the next state of each tracked object. Additionally, new tracking algorithms capable of combining dynamic objects lists coming from either one or various sources complete the solution. The complementary performance of the separated modular structure for detection and identification is evaluated and, finally, a selection of test examples discussed. © 2014 by the authors; licensee MDPI, Basel, Switzerland.
ROTOS: Multi-robot system for outdoor infrastructuresprotection, sponsored by the Spanish Ministry of Education and Science. DPI2010-17998; ROBOCITY2030, sponsored by the Community of Madrid. S-0505/DPI/000235
Databáze: OpenAIRE
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