A multi-sensor surveillance system for active-vision based object localization

In this paper, the implementation of a novel surveillance system that incorporates multiple active-vision sensors controlled by a real-time dispatching algorithm is presented. The proposed system improves reliability and accuracy of target surveillance-tracking systems used for visual-servoing and other similar applications. Experiments using a dispatched system have shown that the use of dynamic sensors can improve the performance of a surveillance system, primarily, due to the following factors: (i) decrease in the uncertainty associated with the object´s estimated pose, (ii) increase in robustness of the system due to its ability to cope with a wider range of a priori unknown object trajectories, and (iii) increase in reliability through sensory fault tolerance.