36509263
A Searching and Tracking Framework for Multi-Robot Observation of Multiple Moving Targets
11533242
Multi-robot mobility enhanced hop-count based localization in ad hoc networks
The localization problem is important in mobile robots and wireless sensor network and has been studied for many years. Among many localization methods, the hop-count based approach is simple and scalable; however, the localization accuracy is not satisfactory if the node density is low. To solve this problem, in this paper a multi-robot approach is proposed to utilize the cooperation and mobility of the robots to improve the node distribution (density), thus enhancing the hop-count based localization. By an auction-based task allocation scheme, the robots can negotiate with the static sensor nodes and then select the most suitable robots to move to the area of sparse node density, thus increasing the localization accuracy for the static sensor nodes. On the other hand, the robots also can localize themselves with the help of the static sensor nodes. The efficacy of this approach is shown by simulation.
7502395
Dynamic image sequence analysis using fuzzy measures
In this paper, we present an image understanding system using fuzzy sets and fuzzy measures. This system is based on a symbolic object-oriented image interpretation system. We apply a simple, powerful three-dimensional (3-D) recursive filter to tracking moving objects in a dynamic image sequence. This filter has a time-varying 3-D frequency-planar passband that is adapted in a feedback system to automatically track moving objects. However, as objects in the image sequence are not well-defined and are engaged in dynamic activities, their shapes and trajectories in most cases can be described only vaguely. In order to handle these uncertainties, we use fuzzy measures to capture subtle variations and manage the uncertainties involved. This enables us to develop an image understanding system that produces a very natural output. We demonstrate the effectiveness of our system with complex real traffic scenes.
7088840
Communication protection in IP-based video surveillance systems
For decades, video surveillance systems have been crucial in protecting critical infrastructures. Currently the systems are adopting the emerging internetworking digital technology, changing from the traditional isolated analog technology. While there are several advantages of IP-based video surveillance systems, the systems are also exposed to additional new security threats. Security is a critical factor to make the IP-based video surveillance systems practical and usable. In this paper, we address the security threats to the data communications in IP-based video surveillance systems. We first analyze the current approaches, mainly naive and selective methods, to secure real-time video data, and identify their limitations to IP-based video surveillance systems. Then we propose a system design of secure internetworking video surveillance systems. Our proposed approach adopts a randomly adjustable encryption method to provide confidentiality to the data. Our implementation and performance study demonstrate that our approach achieves a good balance of cost-efficiency and security.
4908568
Insignificant shadow detection for video segmentation
To prevent moving cast shadows from being misunderstood as part of moving objects in change detection based video segmentation, this paper proposes a novel approach to the cast shadow detection based on the edge and region information in multiple frames. First, an initial change detection mask containing moving objects and cast shadows is obtained. Then a Canny edge map is generated. After that, the shadow region is detected and removed through multiframe integration, edge matching, and region growing. Finally, a post processing procedure is used to eliminate noise and tune the boundaries of the objects. Our approach can be used for video segmentation in indoor environment. The experimental results demonstrate its good performance.
16029762
Preemptive Scheduling with Variable Profile, Precedence Constraints and Due Dates
Abstract This paper is concerned with the problem of scheduling preemptive tasks subject to precedence constraints in order to minimize the maximum lateness and the makespan. The number of available parallel processors is allowed to vary in time. It is shown that when an earliest due date first algorithm provides an optimal nonpreemptive schedule for unit-execution-time (UET) tasks, the preemptive priority scheduling algorithm, referred to as smallest laxity first, provides an optimal preemptive schedule for real-execution-time (RET) tasks. When the objective is to minimize the makespan, we get the same kind of result between highest level first schedules solving nonpreemptive tasks with UET and the longest remaining path first schedule for the corresponding preemptive scheduling problem with RET tasks. These results are applied to four specific profile scheduling problems and new optimality results are obtained.
11711500
Verification of schedulability for real-time programs
Assume that a real-time programPT consisting of a number of parallel processes is executed on a system having a setPr of processors which are shared between the processes by a real-time schedulerST. Assume that PT must meet some timing deadlines. We show that such an implementation ofPT can be represented as a transformationL(PT) and that the deadlines ofPT will be met if they are satisfied by the timing properties of the transformed program. The condition for feasibility of a real-time program executed under a scheduler is formalized and rules are provided for verification. The schedulerST can be specifiedgenerically and applied to different programs, making it unnecessary to introduce low-level operations such as scheduling primitives into the programming language. Thus real-time program specification and Schedulability can be considered in the same framework and the timing properties of a program can be determined at the specification level. By separating the specification of the scheduler from that of the program, the feasibility of an implementation can be proved by considering a scheduling policy rather than its implementation details.