We study the problem of visibility-based exploration, reconstruction and surveillance in the context of supervised learning. Using a level set representation of data and information, we train a convolutional neural network to determine vantage points that maximize visibility. We show that this method drastically reduces the on-line computational cost and determines a small set of vantage points that solve the problem. This enables us to efficiently produce highly-resolved and topologically accurate maps of complex 3D environments. We present realistic simulations on 2D and 3D urban environments.
propose an alternating minimization scheme for optimizing the visibility of @math observers @cite_25 . use a system of differential equations to optimize the location and orientation of @math sensors to maximize surveillance @cite_6 . Both works assume the number of sensors is given.
@cite_25 @cite_6
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We propose a computational method to optimally position a sensor system. Each sensor has limited range and viewing angle, and it may fail with a certain failure rate. The goal is to find the optimal locations as well as the viewing directions of all the sensors and achieve the maximal surveillance of the known environment. We set up the problem using the level set framework. Both the environment and the viewing range of the sensors are represented by level set functions. Then we solve a system of ordinary differential equations (ODEs) to find the optimal viewing directions and locations of all sensors together. Furthermore, we use the intermittent diffusion, which converts the ODEs into stochastic differential equations, to find the global maximum of the total surveillance area. The numerical examples include various failure rates of sensors, different rates of importance of the surveillance region, and 3-dimensional setups. They show the effectiveness of the proposed method. This paper presents a novel decision-theoretic approach to control and coordinate multiple active cameras for observing a number of moving targets in a surveillance system. This approach offers the advantages of being able to (a) account for the stochasticity of targets' motion via probabilistic modeling, and (b) address the trade-off between maximizing the expected number of observed targets and the resolution of the observed targets through stochastic optimization. One of the key issues faced by existing approaches in multi-camera surveillance is that of scalability with increasing number of targets. We show how its scalability can be improved by exploiting the problem structure: as proven analytically, our decision-theoretic approach incurs time that is linear in the number of targets to be observed during surveillance. As demonstrated empirically through simulations, our proposed approach can achieve high-quality surveillance of up to 50 targets in real time and its surveillance performance degrades gracefully with increasing number of targets. We also demonstrate our proposed approach with real AXIS 214 PTZ cameras in maximizing the number of Lego robots observed at high resolution over a surveyed rectangular area. The results are promising and clearly show the feasibility of our decision-theoretic approach in controlling and coordinating the active cameras in real surveillance system. This paper addresses the maximal lifetime scheduling for sensor surveillance systems with K sensors to 1 target. Given a set of sensors and targets in an Euclidean plane, a sensor can watch only one target at a time and a target should be watched by k, k 1, sensors at any time. Our task is to schedule sensors to watch targets and pass data to the base station, such that the lifetime of the surveillance system is maximized, where the lifetime is the duration up to the time when there exists one target that cannot be watched by k sensors or data cannot be forwarded to the base station due to the depletion of energy of the sensor nodes. We propose an optimal solution to find the target watching schedule for sensors that achieves the maximal lifetime. Our solution consists of three steps: 1) computing the maximal lifetime of the surveillance system and a workload matrix by using linear programming techniques, 2) decomposing the workload matrix into a sequence of schedule matrices that can achieve the maximal lifetime, and 3) determining the sensor surveillance trees based on the above obtained schedule matrices, which specify the active sensors and the routes to pass sensed data to the base station. This is the first time in the literature that this scheduling problem of sensor surveillance systems has been formulated and the optimal solution has been found. We illustrate our optimal method by a numeric example and experiments in the end. We study a novel “coverage by directional sensors” problem with tunable orientations on a set of discrete targets. We propose a Maximum Coverage with Minimum Sensors (MCMS) problem in which coverage in terms of the number of targets to be covered is maximized whereas the number of sensors to be activated is minimized. We present its exact Integer Linear Programming (ILP) formulation and an approximate (but computationally efficient) centralized greedy algorithm (CGA) solution. These centralized solutions are used as baselines for comparison. Then we provide a distributed greedy algorithm (DGA) solution. By incorporating a measure of the sensors residual energy into DGA, we further develop a Sensing Neighborhood Cooperative Sleeping (SNCS) protocol which performs adaptive scheduling on a larger time scale. Finally, we evaluate the properties of the proposed solutions and protocols in terms of providing coverage and maximizing network lifetime through extensive simulations. Moreover, for the case of circular coverage, we compare against the best known existing coverage algorithm.