Distributed Object Tracking Using a Cluster-Based Kalman Filter in Wireless Camera Networks

Local data aggregation is an effective means to save sensor node energy and prolong the lifespan of wireless sensor networks. However, when a sensor network is used to track moving objects, the task of local data aggregation in the network presents a new set of challenges, such as the necessity to estimate, usually in real time, the constantly changing state of the target based on information acquired by the nodes at different time instants. To address these issues, we propose a distributed object tracking system which employs a cluster-based Kalman filter in a network of wireless cameras. When a target is detected, cameras that can observe the same target interact with one another to form a cluster and elect a cluster head. Local measurements of the target acquired by members of the cluster are sent to the cluster head, which then estimates the target position via Kalman filtering and periodically transmits this information to a base station. The underlying clustering protocol allows the current state and uncertainty of the target position to be easily handed off among clusters as the object is being tracked. This allows Kalman filter-based object tracking to be carried out in a distributed manner. An extended Kalman filter is necessary since measurements acquired by the cameras are related to the actual position of the target by nonlinear transformations. In addition, in order to take into consideration the time uncertainty in the measurements acquired by the different cameras, it is necessary to introduce nonlinearity in the system dynamics. Our object tracking protocol requires the transmission of significantly fewer messages than a centralized tracker that naively transmits all of the local measurements to the base station. It is also more accurate than a decentralized tracker that employs linear interpolation for local data aggregation. Besides, the protocol is able to perform real-time estimation because our implementation takes into consideration the sparsit- - y of the matrices involved in the problem. The experimental results show that our distributed object tracking protocol is able to achieve tracking accuracy comparable to the centralized tracking method, while requiring a significantly smaller number of message transmissions in the network

Advanced real-time indoor tracking based on the Viterbi algorithm and semantic data

A real-time indoor tracking system based on the Viterbi algorithm is developed. This Viterbi principle is used in combination with semantic data to improve the accuracy, that is, the environment of the object that is being tracked and a motion model. The starting point is a fingerprinting technique for which an advanced network planner is used to automatically construct the radio map, avoiding a time consuming measurement campaign. The developed algorithm was verified with simulations and with experiments in a building-wide testbed for sensor experiments, where a median accuracy below 2 m was obtained. Compared to a reference algorithm without Viterbi or semantic data, the results indicated a significant improvement: the mean accuracy and standard deviation improved by, respectively, 26.1% and 65.3%. Thereafter a sensitivity analysis was conducted to estimate the influence of node density, grid size, memory usage, and semantic data on the performance

An objective based classification of aggregation techniques for wireless sensor networks

Wireless Sensor Networks have gained immense popularity in recent years due to their ever increasing capabilities and wide range of critical applications. A huge body of research efforts has been dedicated to find ways to utilize limited resources of these sensor nodes in an efficient manner. One of the common ways to minimize energy consumption has been aggregation of input data. We note that every aggregation technique has an improvement objective to achieve with respect to the output it produces. Each technique is designed to achieve some target e.g. reduce data size, minimize transmission energy, enhance accuracy etc. This paper presents a comprehensive survey of aggregation techniques that can be used in distributed manner to improve lifetime and energy conservation of wireless sensor networks. Main contribution of this work is proposal of a novel classification of such techniques based on the type of improvement they offer when applied to WSNs. Due to the existence of a myriad of definitions of aggregation, we first review the meaning of term aggregation that can be applied to WSN. The concept is then associated with the proposed classes. Each class of techniques is divided into a number of subclasses and a brief literature review of related work in WSN for each of these is also presented

Device Free Localisation Techniques in Indoor Environments

The location estimation of a target for a long period was performed only by device based localisation technique which is difficult in applications where target especially human is non-cooperative. A target was detected by equipping a device using global positioning systems, radio frequency systems, ultrasonic frequency systems, etc. Device free localisation (DFL) is an upcoming technology in automated localisation in which target need not equip any device for identifying its position by the user. For achieving this objective, the wireless sensor network is a better choice due to its growing popularity. This paper describes the possible categorisation of recently developed DFL techniques using wireless sensor network. The scope of each category of techniques is analysed by comparing their potential benefits and drawbacks. Finally, future scope and research directions in this field are also summarised

Wireless sensor network as a distribute database

Wireless sensor networks (WSN) have played a role in various fields. In-network data processing is one of the most important and challenging techniques as it affects the key features of WSNs, which are energy consumption, nodes life circles and network performance. In the form of in-network processing, an intermediate node or aggregator will fuse or aggregate sensor data, which are collected from a group of sensors before transferring to the base station. The advantage of this approach is to minimize the amount of information transferred due to lack of computational resources. This thesis introduces the development of a hybrid in-network data processing for WSNs to fulfil the WSNs constraints. An architecture for in-network data processing were proposed in clustering level, data compression level and data mining level. The Neighbour-aware Multipath Cluster Aggregation (NMCA) is designed in the clustering level, which combines cluster-based and multipath approaches to process different packet loss rates. The data compression schemes and Optimal Dynamic Huffman (ODH) algorithm compressed data in the cluster head for the compressed level. A semantic data mining for fire detection was designed for extracting information from the raw data by the semantic data-mining model is developed to improve data accuracy and extract the fire event in the simulation. A demo in-door location system with in-network data processing approach is built to test the performance of the energy reduction of our designed strategy. In conclusion, the added benefits that the technical work can provide for in-network data processing is discussed and specific contributions and future work are highlighted

LAURA: LocAlization and Ubiquitous monitoRing of pAtients for health care support

This works illustrates the LAURA system, which performs localization, tracking and monitoring of patients hosted at nursing institutes by exploiting a wireless sensor network based on the IEEE 801.15.4 (Zigbee) standard. We focus on the indoor personal localization module, which leverages a method based on received signal strength measurements, together with a particle filter to perform tracking of moving patients. We discuss the implementation and dimensioning of the localization and tracking system using commercial hardware, and we test the LAURA system in real environment, both with static and moving patients, achieving an average localization error lower than 2 m in 80% of the cases. The data sets containing the real measurements of received signal strengths collected during the experiments are made publicly available to enable reproducible research