Cooperative Surveillance System with Fixed Camera Object Localization and Mobile Robot Target Tracking

This paper presents a cooperative surveillance system. It presents a cooperation scheme between fixed cameras and a mobile robot. The fixed cameras detect the objects with background subtraction and locate the objects oil a map with homography transform. At the same time, the information of the target to track, including the position and the appearance, is transmitted to the mobile robot. After Breadth First Search in a map of boolean array, the mobile robot finds the target in its view by use of a stochastic scheme with the information given, then the mobile robot will track the target and keep it in the robot's view wherever he or she goes. By proposing this system, the dead spot problem in typical surveillance systems with only fixed cameras is considered and resolved.