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Proceedings Paper

Recent advances in distributed collaborative surveillance
Author(s): Mahesh Saptharishi; K. Bhat; Christopher P. Diehl; C. Spence Oliver; Marios Savvides; Alvaro Soto; John M. Dolan; Pradeep K. Khosla
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Paper Abstract

In Carnegie Mellon University's CyberScout project, we are developing mobile and stationary sentries capable of autonomous reconnaissance and surveillance. In this paper, we describe recent advances in the areas of efficient perception algorithms (detection, classification, and correspondence) and mission planning. In detection, we have achieved improved rejection of camera jitter and environmental variations (e.g., lighting, moving foliage) through multi-modal filtering, and we have implemented panoramic backgrounding through pseudo-real-time mosaicing. In classification, we present methods for discriminating between individual, groups of individuals, and vehicles, and between individuals with and without backpacks. In correspondence, we describe an accurate multi-hypothesis approach based on both motion and appearance. Finally, in mission planning, we describe mapbuilding using multiple sensory cues and a computationally efficient decentralized planner for multiple platforms.

Paper Details

Date Published: 21 July 2000
PDF: 10 pages
Proc. SPIE 4040, Unattended Ground Sensor Technologies and Applications II, (21 July 2000); doi: 10.1117/12.392568
Show Author Affiliations
Mahesh Saptharishi, Carnegie Mellon Univ. (United States)
K. Bhat, Carnegie Mellon Univ. (United States)
Christopher P. Diehl, Carnegie Mellon Univ. (United States)
C. Spence Oliver, Carnegie Mellon Univ. (United States)
Marios Savvides, Carnegie Mellon Univ. (United States)
Alvaro Soto, Carnegie Mellon Univ. (United States)
John M. Dolan, Carnegie Mellon Univ. (United States)
Pradeep K. Khosla, Carnegie Mellon Univ. (United States)


Published in SPIE Proceedings Vol. 4040:
Unattended Ground Sensor Technologies and Applications II
Edward M. Carapezza; Todd M. Hintz, Editor(s)

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