Friday October 09, 2009. 4:00 pm
Room 302 HRBB

Systems and Algorithms for Autonomously Simultaneous Observation of Multiple Objects Using Robotic PTZ Cameras Assisted by a Wide-Angle Camera

Yiliang Xu.
Department of Computer Science and Engineering, Texas A&M University

Abstract

We report an autonomous observation system with multiple pan-tilt-zoom (PTZ) cameras assisted by a fixed wide-angle camera. The wide-angle camera provides large but low resolution coverage and detects and tracks all moving objects in the scene. Based on the output of the wide-angle camera, the system generates spatiotemporal observation requests for each moving object, which are candidates for close-up views using PTZ cameras. Due to the fact that there are usually much more objects than the number of PTZ cameras, the system first assigns a subset of the requests/objects to each PTZ camera. The PTZ cameras then select the parameter settings that best satisfy the assigned competing requests to provide high resolution views of the moving objects. We solve the request assignment and the camera parameter selection problems in real time. The effectiveness of the proposed system is validated in comparison with an existing work using simulation. The simulation results show that in heavy traffic scenarios, our algorithm increases the number of observed objects by over 200%.

Biography

Yiliang Xu received the B.S. degree in electrical engineering from Zhejiang University, China in 2002 and the Ph.D. degree in electrical and electronic engineering from Nanyang Technological University, Singapore in 2006. He is currently working toward the Ph.D. degree in computer science at Texas A&M University. His research interests include networked robotics, computer vision, computational geometry, optimization and computational intelligence.

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