Cost-Aware Coalitions for Collaborative Tracking in Resource-Constrained Camera Networks

Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. J. C. SanMiguel and A. Cavallaro, "Cost-Aware Coalitions for Collaborative Tracking in Resource-Constrained Camera Networks," in IEEE Sensors Journal, vol. 15, no. 5, pp. 2657-2668, May 2015. doi: 10.1109/JSEN.2014.2367015We propose an approach to create camera coalitions in resource-constrained camera networks and demonstrate it for collaborative target tracking. We cast coalition formation as a decentralized resource allocation process where the best cameras among those viewing a target are assigned to a coalition based on marginal utility theory. A manager is dynamically selected to negotiate with cameras whether they will join the coalition and to coordinate the tracking task. This negotiation is based not only on the utility brought by each camera to the coalition, but also on the associated cost (i.e. additional processing and communication). Experimental results and comparisons using simulations and real data show that the proposed approach outperforms related state-of-the-art methods by improving tracking accuracy in cost-free settings. Moreover, under resource limitations, the proposed approach controls the tradeoff between accuracy and cost, and achieves energy savings with only a minor reduction in accuracy.This work was supported in part by the EU Crowded Environments monitoring for Activity Understanding and Recognition (CEN-TAUR, FP7-PEOPLE-2012-IAPP) Project under GA number 324359, and in part by the Artemis JU and U.K. Technology Strategy Board as part of the Cognitive and Perceptive Cameras (COPCAMS) Project under GA number 332913

Distributed Active-Camera Control Architecture Based on Multi-Agent Systems

Proceedings of: 10th Conference on Practical Applications of Agents and Multi-Agent Systems, Salamanca (Spain), 28-30 March 2012 (PAAMS`12)In this contribution a Multi-Agent System architecture is proposed to deal with the management of spatially distributed heterogeneous nets of sensors, specially is described the problem of Pan-Tilt-Zoom or active cameras. The design of surveillance multi-sensor systems implies undertaking to solve two related problems: data fusion and coordinated sensor-task management. Generally, proposed architectures for the coordinated operation of multiple sensors are based on centralization of management decisions at the fusion center. However, the existence of intelligent sensors capable of taking decisions brings the possibility of conceiving alternative decentralized architectures. This problem could be approached by means of a Multi-Agent System (MAS). In specific, this paper proposes a MAS architecture for automatically control sensors in video surveillance environments.This work was supported in part by Projects CICYT TIN2008-06742-C02-02/TSI, CICYT TEC2008-06732-C02-02/TEC, CAM CONTEXTS (S2009/ TIC-1485) and DPS2008- 07029-C02-02.Publicad

Dynamic Reconfiguration in Camera Networks: A Short Survey

There is a clear trend in camera networks towards enhanced functionality and flexibility, and a fixed static deployment is typically not sufficient to fulfill these increased requirements. Dynamic network reconfiguration helps to optimize the network performance to the currently required specific tasks while considering the available resources. Although several reconfiguration methods have been recently proposed, e.g., for maximizing the global scene coverage or maximizing the image quality of specific targets, there is a lack of a general framework highlighting the key components shared by all these systems. In this paper we propose a reference framework for network reconfiguration and present a short survey of some of the most relevant state-of-the-art works in this field, showing how they can be reformulated in our framework. Finally we discuss the main open research challenges in camera network reconfiguration

Active visual tracking in multi-agent scenarios

PhD thesisCamera-equipped robots (agents) can autonomously follow people to provide continuous assistance in wide areas, e.g. museums and airports. Each agent serves one person (target) at a time and aims to maintain its target centred on the camera’s image plane with a certain size (active visual tracking) without colliding with other agents and targets in its proximity. It is essential that each agent accurately estimates the state of itself and that of nearby targets and agents over time (i.e. tracking) to perform collision-free active visual tracking. Agents can track themselves with either on-board sensors (e.g. cameras or inertial sensors) or external tracking systems (e.g. multi-camera systems). However, on-board sensing alone is not sufficient for tracking nearby targets due to occlusions in crowded scenes, where an external multi-camera system can help. To address scalability of wide-area applications and accurate tracking, this thesis proposes a novel collaborative framework where agents track nearby targets jointly with wireless ceiling-mounted static cameras in a distributed manner. Distributed tracking enables each agent to achieve agreed state estimates of targets via iteratively communicating with neighbouring static cameras. However, such iterative neighbourhood communication may cause poor communication quality (i.e. packet loss/error) due to limited bandwidth, which worsens tracking accuracy. This thesis proposes the formation of coalitions among static cameras prior to distributed tracking based on a marginal information utility that accounts for both the communication quality and the local tracking confidence. Agents move on demand when hearing requests from nearby static cameras. Each agent independently selects its target with limited scene knowledge and computes its robotic control for collision-free active visual tracking. Collision avoidance among robots and targets can be achieved by the Optimal Reciprocal Collision Avoidance (ORCA) method. To further address view maintenance during collision avoidance manoeuvres, this thesis proposes an ORCA-based method with adaptive responsibility sharing and heading-aware robotic control mapping. Experimental results show that the proposed methods achieve higher tracking accuracy and better view maintenance compared with the state-of-the-art methods.Queen Mary University of London and Chinese Scholarship Council

Diversity Maximized Scheduling in RoadSide Units for Traffic Monitoring Applications

This paper develops an optimal data aggregation policy for learning-based traffic control systems based on imagery collected from Road Side Units (RSUs) under imperfect communications. Our focus is optimizing semantic information flow from RSUs to a nearby edge server or cloud-based processing units by maximizing data diversity based on the target machine learning application while taking into account heterogeneous channel conditions (e.g., delay, error rate) and constrained total transmission rate. As a proof-of-concept, we enforce fairness among class labels to increase data diversity for classification problems. The developed constrained optimization problem is non-convex. Hence it does not admit a closed-form solution, and the exhaustive search is NP-hard in the number of RSUs. To this end, we propose an approximate algorithm that applies a greedy interval-by-interval scheduling policy by selecting RSUs to transmit. We use coalition game formulation to maximize the overall added fairness by the selected RSUs in each transmission interval. Once, RSUs are selected, we employ a maximum uncertainty method to handpick data samples that contribute the most to the learning performance. Our method outperforms random selection, uniform selection, and pure network-based optimization methods (e.g., FedCS) in terms of the ultimate accuracy of the target learning application

A practical approach for active camera coordination based on a fusion-driven multi-agent system

In this paper, we propose a multi-agent system architecture to manage spatially distributed active (or pan-tilt-zoom) cameras. Traditional video surveillance algorithms are of no use for active cameras, and we have to look at different approaches. Such multi-sensor surveillance systems have to be designed to solve two related problems: data fusion and coordinated sensor-task management. Generally, architectures proposed for the coordinated operation of multiple cameras are based on the centralisation of management decisions at the fusion centre. However, the existence of intelligent sensors capable of decision making brings with it the possibility of conceiving alternative decentralised architectures. This problem is approached by means of a MAS, integrating data fusion as an integral part of the architecture for distributed coordination purposes. This paper presents the MAS architecture and system agents.This work was supported in part by Projects MINECO TEC2012-37832-C02-01, CICYT TEC2011-28626-C02-02 and CAM CONTEXTS (S2009/TIC-1485).Publicad

Energy aware and privacy preserving protocols for ad hoc networks with applications to disaster management

Disasters can have a serious impact on the functioning of communities and societies. Disaster management aims at providing efficient utilization of resources during pre-disaster (e.g. preparedness and prevention) and post-disaster (e.g. recovery and relief) scenarios to reduce the impact of disasters. Wireless sensors have been extensively used for early detection and prevention of disasters. However, the sensor\u27s operating environment may not always be congenial to these applications. Attackers can observe the traffic flow in the network to determine the location of the sensors and exploit it. For example, in intrusion detection systems, the information can be used to identify coverage gaps and avoid detection. Data source location privacy preservation protocols were designed in this work to address this problem. Using wireless sensors for disaster preparedness, recovery and relief operations can have high deployment costs. Making use of wireless devices (e.g. smartphones and tablets) widely available among people in the affected region is a more practical approach. Disaster preparedness involves dissemination of information among the people to make them aware of the risks they will face in the event of a disaster and how to actively prepare for them. The content is downloaded by the people on their smartphones and tablets for ubiquitous access. As these devices are primarily constrained by their available energy, this work introduces an energy-aware peer-to-peer file sharing protocol for efficient distribution of the content and maximizing the lifetime of the devices. Finally, the ability of the wireless devices to build an ad hoc network for capturing and collecting data for disaster relief and recovery operations was investigated. Specifically, novel energy-adaptive mechanisms were designed for autonomous creation of the ad hoc network, distribution of data capturing task among the devices, and collection of data with minimum delay --Abstract, page iii