A real-time distributed relative pose estimation algorithm for RGB-D camera equipped visual sensor networks

Author(s):  
Xiaoqin Wang ◽  
Y. Ahmet Sekercioglu ◽  
Tom Drummond
2021 ◽  
pp. 175-184
Author(s):  
Afaf Mosaif ◽  
◽  
Said Rakrak

Nowadays, public security is becoming an increasingly serious issue in our society and its requirements have been extended from urban centers to all remote areas. Therefore, surveillance and security cameras are being deployed worldwide. Wireless Visual Sensor Networks nodes can be employed as camera nodes to monitor in the city without the need for any cables installation. However, these cameras are constrained in processing, memory, and energy resources. Also, they generate a massive amount of data that must be analyzed in real-time to ensure public safety and deal with emergency situations. As a result, data processing, information fusion, and decision making have to be executed on-site (near to the data collection location). Besides, surveillance cameras are directional sensors, which makes the coverage problem another issue to deal with. Therefore, we present a new system for real-time video surveillance in a smart city, in which transportations equipped with camera nodes are used as the mobile part of the system and an architecture based on fog computing and wireless visual sensor networks is adopted. Furthermore, we propose an approach for selecting the camera nodes that will participate in the tracking process and we simulated three different use cases to test the effectiveness of our system in terms of target detection. The simulation results show that our system is a promising solution for smart city surveillance applications.


2016 ◽  
Vol 25 (4) ◽  
pp. 041008 ◽  
Author(s):  
Jan Hanca ◽  
Nikos Deligiannis ◽  
Adrian Munteanu

Sensors ◽  
2018 ◽  
Vol 18 (8) ◽  
pp. 2430
Author(s):  
Xiaoqin Wang ◽  
Y. Şekercioğlu ◽  
Tom Drummond ◽  
Vincent Frémont ◽  
Enrico Natalizio ◽  
...  

In this paper, the Relative Pose based Redundancy Removal (RPRR) scheme is presented, which has been designed for mobile RGB-D sensor networks operating under bandwidth-constrained operational scenarios. The scheme considers a multiview scenario in which pairs of sensors observe the same scene from different viewpoints, and detect the redundant visual and depth information to prevent their transmission leading to a significant improvement in wireless channel usage efficiency and power savings. We envisage applications in which the environment is static, and rapid 3D mapping of an enclosed area of interest is required, such as disaster recovery and support operations after earthquakes or industrial accidents. Experimental results show that wireless channel utilization is improved by 250% and battery consumption is halved when the RPRR scheme is used instead of sending the sensor images independently.


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