Automatic differentiation of non-holonomic fast marching for computing most threatening trajectories under sensors surveillance

We consider a two player game, where a first player has to install a surveillance system within an admissible region. The second player needs to enter the the monitored area, visit a target region, and then leave the area, while minimizing his overall probability of detection. Both players know the target region, and the second player knows the surveillance installation details.Optimal trajectories for the second player are computed using a recently developed variant of the fast marching algorithm, which takes into account curvature constraints modeling the second player vehicle maneuverability. The surveillance system optimization leverages a reverse-mode semi-automatic differentiation procedure, estimating the gradient of the value function related to the sensor location in time N log N

Selecting source image sensor nodes based on 2-hop information to improve image transmissions to mobile robot sinks in search \& rescue operations

We consider Robot-assisted Search $\&$ Rescue operations enhanced with some fixed image sensor nodes capable of capturing and sending visual information to a robot sink. In order to increase the performance of image transfer from image sensor nodes to the robot sinks we propose a 2-hop neighborhood information-based cover set selection to determine the most relevant image sensor nodes to activate. Then, in order to be consistent with our proposed approach, a multi-path extension of Greedy Perimeter Stateless Routing (called T-GPSR) wherein routing decisions are also based on 2-hop neighborhood information is proposed. Simulation results show that our proposal reduces packet losses, enabling fast packet delivery and higher visual quality of received images at the robot sink

User-interface to a CCTV video search system

The proliferation of CCTV surveillance systems creates a problem of how to effectively navigate and search the resulting video archive, in a variety of security scenarios. We are concerned here with a situation where a searcher must locate all occurrences of a given person or object within a specified timeframe and with constraints on which camera(s) footage is valid to search. Conventional approaches based on browsing time/camera based combinations are inadequate. We advocate using automatically detected video objects as a basis for search, linking and browsing. In this paper we present a system under development based on users interacting with detected video objects. We outline the suite of technologies needed to achieve such a system and for each we describe where we are in terms of realizing those technologies. We also present a system interface to this system, designed with user needs and user tasks in mind