Real-Time Visualization of Domain Coverage by Dynamically Moving Sensors

A collection of algorithms, visualizations, and interactive operations allow operators controlling the movement of a collection of sensors through an environment to monitor in real time the portion of the environment that can or can´t be seen by some subset of the sensors. The visualization allows preattentive detection of the number of sensors that can see a given location, and the coloring lets users identify the sensors´ exact identities. This method employs two ray-tracing-based algorithms. A GPU implementation using CUDA (Compute-Unified Device Architecture) allows real-time processing and display of all scene updates and sensor movements.