4,503 research outputs found
An intelligent surveillance platform for large metropolitan areas with dense sensor deployment
ProducciĂłn CientĂficaThis paper presents an intelligent surveillance platform based on the usage of
large numbers of inexpensive sensors designed and developed inside the European Eureka
Celtic project HuSIMS. With the aim of maximizing the number of deployable units while
keeping monetary and resource/bandwidth costs at a minimum, the surveillance platform is
based on the usage of inexpensive visual sensors which apply efficient motion detection
and tracking algorithms to transform the video signal in a set of motion parameters. In
order to automate the analysis of the myriad of data streams generated by the visual
sensors, the platform’s control center includes an alarm detection engine which comprises
three components applying three different Artificial Intelligence strategies in parallel.
These strategies are generic, domain-independent approaches which are able to operate in
several domains (traffic surveillance, vandalism prevention, perimeter security, etc.). The
architecture is completed with a versatile communication network which facilitates data
collection from the visual sensors and alarm and video stream distribution towards the
emergency teams. The resulting surveillance system is extremely suitable for its
deployment in metropolitan areas, smart cities, and large facilities, mainly because cheap
visual sensors and autonomous alarm detection facilitate dense sensor network deployments
for wide and detailed coveraMinisterio de Industria, Turismo y Comercio and the Fondo de Desarrollo Regional (FEDER) and the Israeli Chief Scientist Research Grant 43660 inside the European Eureka Celtic project HuSIMS (TSI-020400-2010-102)
Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age
Simultaneous Localization and Mapping (SLAM)consists in the concurrent
construction of a model of the environment (the map), and the estimation of the
state of the robot moving within it. The SLAM community has made astonishing
progress over the last 30 years, enabling large-scale real-world applications,
and witnessing a steady transition of this technology to industry. We survey
the current state of SLAM. We start by presenting what is now the de-facto
standard formulation for SLAM. We then review related work, covering a broad
set of topics including robustness and scalability in long-term mapping, metric
and semantic representations for mapping, theoretical performance guarantees,
active SLAM and exploration, and other new frontiers. This paper simultaneously
serves as a position paper and tutorial to those who are users of SLAM. By
looking at the published research with a critical eye, we delineate open
challenges and new research issues, that still deserve careful scientific
investigation. The paper also contains the authors' take on two questions that
often animate discussions during robotics conferences: Do robots need SLAM? and
Is SLAM solved
Automated 3D model generation for urban environments [online]
Abstract
In this thesis, we present a fast approach to automated
generation of textured 3D city models with both high details at
ground level and complete coverage for birds-eye view.
A ground-based facade model is acquired by driving a vehicle
equipped with two 2D laser scanners and a digital camera under
normal traffic conditions on public roads. One scanner is
mounted horizontally and is used to determine the approximate
component of relative motion along the movement of the
acquisition vehicle via scan matching; the obtained relative
motion estimates are concatenated to form an initial path.
Assuming that features such as buildings are visible from both
ground-based and airborne view, this initial path is globally
corrected by Monte-Carlo Localization techniques using an aerial
photograph or a Digital Surface Model as a global map. The
second scanner is mounted vertically and is used to capture the
3D shape of the building facades. Applying a series of automated
processing steps, a texture-mapped 3D facade model is
reconstructed from the vertical laser scans and the camera
images. In order to obtain an airborne model containing the roof
and terrain shape complementary to the facade model, a Digital
Surface Model is created from airborne laser scans, then
triangulated, and finally texturemapped with aerial imagery.
Finally, the facade model and the airborne model are fused
to one single model usable for both walk- and fly-thrus. The
developed algorithms are evaluated on a large data set acquired
in downtown Berkeley, and the results are shown and discussed
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