Abstract
The development of intelligent surveillance systems is an active research area. In this context, mobile and multi-functional robots are generally adopted as means to reduce the environment structuring and the number of devices needed to cover a given area. Nevertheless, the number of different sensors mounted on the robot, and the number of complex tasks related to exploration, monitoring, and surveillance make the design of the overall system extremely challenging. In this paper, we present our autonomous mobile robot for surveillance of indoor environments. We propose a system able to handle autonomously general-purpose tasks and complex surveillance issues simultaneously. It is shown that the proposed robotic surveillance scheme successfully addresses a number of basic problems related to environment mapping, localization and autonomous navigation, as well as surveillance tasks, like scene processing to detect abandoned or removed objects and people detection and following. The feasibility of the approach is demonstrated through experimental tests using a multisensor platform equipped with a monocular camera, a laser scanner, and an RFID device. Real world applications of the proposed system include surveillance of wide areas (e.g. airports and museums) and buildings, and monitoring of safety equipment.
Highlights
The increasing need for automated surveillance of indoor environments, such as airports, warehouses, production plants, etc. has stimulated the development of intelligent systems based on mobile sensors
The use of robots significantly expands the potential of surveillance systems, which can evolve from the traditional passive role, in which the system can only detect events and trigger alarms, to active surveillance, in which a robot can be used to interact with the environment, with humans or with other robots for more complex cooperative actions (Burgard, W. et al 2000), (Vig, L. & Adams, J.A., 2007)
We developed a number of algorithms including both specific surveillance tasks, e.g. people and object detection (Milella, A., et al 2007), (Di Paola, D. et al 2007), (Marotta, C. et al 2007), and basic navigation tasks, e.g. mobile robot localization and International Journal of Advanced Robotic Systems, Vol 7, No 1 (2010)
Summary
The increasing need for automated surveillance of indoor environments, such as airports, warehouses, production plants, etc. has stimulated the development of intelligent systems based on mobile sensors. A Robotic Security Guard (Duckett, T. et al 2004) for remote surveillance of indoor environments has been the focus of a research project at the Learning Systems Laboratory of AASS The objective of this project was that of developing a mobile robot platform able to patrol a given environment, acquire and update maps, keep watch over valuable objects, recognize people, discriminate intruders from known persons, and provide remote human operators with a detailed sensory analysis. In order to interact with humans, the robot is provided with speech recognition and speech synthesis software as well as with the ability to convey emotional states, verbally and non-verbally Following this trend, we developed a number of algorithms including both specific surveillance tasks, e.g. people and object detection (Milella, A., et al 2007), (Di Paola, D. et al 2007), (Marotta, C. et al 2007), and basic navigation tasks, e.g. mobile robot localization and International Journal of Advanced Robotic Systems, Vol 7, No 1 (2010).
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