Moving Object Monitoring Research Articles

Full View Maximum Coverage of Camera Sensors: Moving Object Monitoring

The study focuses on achieving full view coverage in a camera sensor network to effectively monitor moving objects from multiple perspectives. Three key issues are addressed: camera direction selection, location selection, and moving object monitoring. There are three steps to maximize coverage of moving targets. The first step involves proposing the Maximum Group Set Coverage (MGSC) algorithm, which selects the camera sensor direction for traditional target coverage. In the second step, a composed target merged from a set of fixed directional targets represents multiple views of a moving object. Building upon the MGSC algorithm, the Maximum Group Set Coverage with Composed Targets (MGSC-CT) algorithm is presented to determine camera sensor directions that cover subsets of fixed directional targets. Additionally, a constraint on the number of cameras is imposed for camera location selection, leading to the study of the Maximum Group Set Coverage with Size Constraint (MGSC-SC) algorithm. Each of these steps formulates a problem on group set coverage and provides an algorithmic solution. Furthermore, improved versions of MGSC-CT and MGSC-SC are developed to enhance the coverage speed. Computer simulations are employed to demonstrate the significant performance of the algorithms.

Online fleet monitoring with scalable event recognition and forecasting

Moving object monitoring is becoming essential for companies and organizations that need to manage thousands or even millions of commercial vehicles or vessels, detect dangerous situations (e.g., collisions or malfunctions) and optimize their behavior. It is a task that must be executed in real-time, reporting any such situations or opportunities as soon as they appear. Given the growing sizes of fleets worldwide, a monitoring system must be highly efficient and scalable. It is becoming an increasingly common requirement that such monitoring systems should be able to automatically detect complex situations, possibly involving multiple moving objects and requiring extensive background knowledge. Building a monitoring system that is both expressive and scalable is a significant challenge. Typically, the more expressive a system is, the less flexible it becomes in terms of its parallelization potential. We present a system that strikes a balance between expressiveness and scalability. Going beyond event detection, we also present an approach towards event forecasting. We show how event patterns may be given a probabilistic description so that our system can forecast when a complex event is expected to occur. Our proposed system employs a formalism that allows analysts to define complex patterns in a user-friendly manner while maintaining unambiguous semantics and avoiding ad hoc constructs. At the same time, depending on the problem at hand, it can employ different parallelization strategies in order to address the issue of scalability. It can also employ different training strategies in order to fine-tune the probabilistic models constructed for event forecasting. Our experimental results show that our system can detect complex patterns over moving entities with minimal latency, even when the load on our system surpasses what is to be realistically expected in real-world scenarios.

Approaching Behaviour Monitor and Vibration Indication in Developing a General Moving Object Alarm System (GMOAS)

People who suffer from hearing impairment caused by illness, age or extremely noisy environments are constantly in danger of being hit or knocked down by fast moving objects behind them when they have no companion or augmented sensory system to warn them. In this paper, we propose the General Moving Object Alarm System (GMOAS), a system focused on aiding the safe mobility of people under these circumstances. The GMOAS is a wearable haptic device that consists of two main subsystems: (i) a moving object monitoring subsystem that uses laser range data to detect and track approaching objects, and (ii) an alarm subsystem that warns the user of possibly dangerous approaching objects by triggering tactile vibrations on an “alarm necklace”. For moving object monitoring, we propose a simple yet efficient solution to monitor the approaching behavior of objects. Compared with previous work in motion detection and tracking, we are not interested in specific objects but any type of approaching object that might harm the user. To this extent, we define a boundary in the laser range data where the objects are monitored. Within this boundary a fan-shape grid is constructed to obtain an evenly distributed spatial partitioning of the data. These partitions are efficiently clustered into continuous objects which are then tracked through time using an object association algorithm based on updating a deviation matrix that represents angle, distance and size variations of the objects. The speed of the tracked objects is monitored throughout the algorithm. When the speed of an approaching object surpasses the safety threshold, the alarm necklace is triggered indicating the approaching direction of the fast moving object. The alarm necklace is equipped with three motors that can indicate five directions with respect to the user: left, back, right, left-back and right-back. We performed three types of outdoor experiments (object passing, approaching and crossing) that empirically verified the effectiveness of our proposed algorithm. Furthermore, we analyzed the time and direction response based on neck vibrations. The statistical analysis (including hypothesis test) suggests that the chosen alarm necklace can provide a rapid indication for a quick human response.

Mining neighbor-based patterns in data streams

Discovery of complex patterns such as clusters, outliers, and associations from huge volumes of streaming data has been recognized as critical for many application domains. However, little research effort has been made toward detecting patterns within sliding window semantics as required by real-time monitoring tasks, ranging from real time traffic monitoring to stock trend analysis. Applying static pattern detection algorithms from scratch to every window is impractical due to their high algorithmic complexity and the real-time responsiveness required by streaming applications. In this work, we develop methods for the incremental detection of neighbor-based patterns, in particular, density-based clusters and distance-based outliers over sliding stream windows. Incremental computation for pattern detection queries is challenging. This is because purging of to-be-expired data from previously formed patterns may cause birth, shrinkage, splitting or termination of these complex patterns. To overcome this, we exploit the “predictability” property of sliding windows to elegantly discount the effect of expired objects with little maintenance cost. Our solution achieves guaranteed minimal CPU consumption, while keeping the memory utilization linear in the number of objects in the window. To thoroughly analyze the performance of our proposed methods, we develop a cost model characterizing the performance of our proposed neighbor-based pattern mining strategies. We conduct an analysis study to not only identify the key performance factors for each strategy but also show under which conditions each of them are most efficient. Our comprehensive experimental study, using both synthetic and real data from domains of moving object monitoring and stock trades, demonstrates superiority of our proposed strategies over alternate methods in both CPU processing resources and in memory utilization.

Decentralized Monitoring of Moving Objects in a Transportation Network Augmented with Checkpoints

This paper examines efficient and decentralized monitoring of objects moving in a transportation network. Previous work in moving object monitoring has focused primarily on centralized information systems, like moving object databases and geographic information systems. In contrast, in this paper monitoring is in-network, requiring no centralized control and allowing for substantial spatial constraints to the movement of information. The transportation network is assumed to be augmented with fixed checkpoints that can detect passing mobile objects. This assumption is motivated by many practical applications, from traffic management in vehicle ad hoc networks to habitat monitoring by tracking animal movements. In this context, this paper proposes and evaluates a family of efficient decentralized algorithms for capturing, storing and querying the movements of objects. The algorithms differ in the restrictions they make on the communication and sensing constraints to the mobile nodes and the fixed checkpoints. The performance of the algorithms is evaluated and compared with respect to their scalability (in terms of communication and space complexity), and their latency (the time between when a movement event occurs, and when all interested nodes are updated with records about that event). The conclusions identify three key principles for efficient decentralized monitoring of objects moving past checkpoints: structuring computation around neighboring checkpoints; taking advantage of mobility diffusion and separating the generation and querying of movement information.

Shared execution strategy for neighbor-based pattern mining requests over streaming windows

In diverse applications ranging from stock trading to traffic monitoring, data streams are continuously monitored by multiple analysts for extracting patterns of interest in real time. These analysts often submit similar pattern mining requests yet customized with different parameter settings. In this work, we present shared execution strategies for processing a large number of neighbor-based pattern mining requests of the same type yet with arbitrary parameter settings. Such neighbor-based pattern mining requests cover a broad range of popular mining query types, including detection of clusters, outliers, and nearest neighbors. Given the high algorithmic complexity of the mining process, serving multiple such queries in a single system is extremely resource intensive. The naive method of detecting and maintaining patterns for different queries independently is often infeasible in practice, as its demands on system resources increase dramatically with the cardinality of the query workload. In order to maximize the efficiency of the system resource utilization for executing multiple queries simultaneously, we analyze the commonalities of the neighbor-based pattern mining queries, and identify several general optimization principles which lead to significant system resource sharing among multiple queries. In particular, as a preliminary sharing effort, we observe that the computation needed for the range query searches (the process of searching the neighbors for each object) can be shared among multiple queries and thus saves the CPU consumption. Then we analyze the interrelations between the patterns identified by queries with different parameters settings, including both pattern-specific and window-specific parameters. For that, we first introduce an incremental pattern representation, which represents the patterns identified by queries with different pattern-specific parameters within a single compact structure. This enables integrated pattern maintenance for multiple queries. Second, by leveraging the potential overlaps among sliding windows, we propose a metaquery strategy which utilizes a single query to answer multiple queries with different window-specific parameters. By combining these three techniques, namely the range query search sharing, integrated pattern maintenance, and metaquery strategy, our framework realizes fully shared execution of multiple queries with arbitrary parameter settings. It achieves significant savings of computational and memory resources due to shared execution. Our comprehensive experimental study, using real data streams from domains of stock trades and moving object monitoring, demonstrates that our solution is significantly faster than the independent execution strategy, while using only a small portion of memory space compared to the independent execution. We also show that our solution scales in handling large numbers of queries in the order of hundreds or even thousands under high input data rates.

Summarization and matching of density-based clusters in streaming environments

Density-based cluster mining is known to serve a broad range of applications ranging from stock trade analysis to moving object monitoring. Although methods for efficient extraction of density-based clusters have been studied in the literature, the problem of summarizing and matching of such clusters with arbitrary shapes and complex cluster structures remains unsolved. Therefore, the goal of our work is to extend the state-of-art of density-based cluster mining in streams from cluster extraction only to now also support analysis and management of the extracted clusters. Our work solves three major technical challenges. First, we propose a novel multi-resolution cluster summarization method, called Skeletal Grid Summarization (SGS), which captures the key features of density-based clusters, covering both their external shape and internal cluster structures. Second, in order to summarize the extracted clusters in real-time, we present an integrated computation strategy C-SGS, which piggybacks the generation of cluster summarizations within the online clustering process. Lastly, we design a mechanism to efficiently execute cluster matching queries, which identify similar clusters for given cluster of analyst's interest from clusters extracted earlier in the stream history. Our experimental study using real streaming data shows the clear superiority of our proposed methods in both efficiency and effectiveness for cluster summarization and cluster matching queries to other potential alternatives.

PAM: An Efficient and Privacy-Aware Monitoring Framework for Continuously Moving Objects

Efficiency and privacy are two fundamental issues in moving object monitoring. This paper proposes a privacy-aware monitoring (PAM) framework that addresses both issues. The framework distinguishes itself from the existing work by being the first to holistically address the issues of location updating in terms of monitoring accuracy, efficiency, and privacy, particularly, when and how mobile clients should send location updates to the server. Based on the notions of safe region and most probable result, PAM performs location updates only when they would likely alter the query results. Furthermore, by designing various client update strategies, the framework is flexible and able to optimize accuracy, privacy, or efficiency. We develop efficient query evaluation/reevaluation and safe region computation algorithms in the framework. The experimental results show that PAM substantially outperforms traditional schemes in terms of monitoring accuracy, CPU cost, and scalability while achieving close-to-optimal communication cost.

원격제어기반 이동체 감지 및 변형 퍼스널 로봇시스템 설계 및 구현

본 논문에서는 원격제어기반 이동체 감지 및 변형 퍼스널 로봇시스템을 설계 및 구현하고 성능을 분석하였다. 설계에 있어서 중점적으로 고려한 사항은 퍼스널 로봇의 버튼기반 및 원격제어방식 설계, 휠 주행모드/보행모드/자동 주행모드/감시모드의 동작모드 설계, 원격제어기능 설계, 주변환경 변화감지 기능 설계, 모션데이터 추출기법 설계, 장애물 탐지기법 설계이다. 개발한 퍼스널 로봇은 언제 어디서나 원격지에서 인터넷과 접속하여 로봇의 동작 및 영상인식을 제어하여 주변 환경변화를 감지하는 이동체 감지 및 4가지의 변형이 가능하다. 또한 실험결과, 실내의 문턱이나 전선등으로 이루어진 지형의 요철을 다리 관절로 이동 가능하며, 자동 주행모드로 진행 할 경우 30cm*30cm 공간의 장애물 환경에서 3개의 적외선 센서를 이용하여 장애물을 성공적으로 벗어남을 확인하였다. The moving object monitoring and transforming personal robot system based on remote controls is designed and implemented, and the performance of the system is analyzed in this paper. The major considering factors in the system design are such as 1) the control scheme design (button based and the remote control schemes); 2) the operation modes design (wheel driving mode/pedestrian mode/auto driving mode/observation mode); 3) the remote control function design; 4) the design of the monitoring function of the changes in neighbor environments; 5) the design of the detection of obstruction. From the experiments, it is assured that the developed personal robot can walk to the grounds that covered with doorsill or electric wires in indoors by control the leg articulations, and can escape from the obstruction using three infrared sensors in the 30cm*30cm obstruction styled space under the auto driving mode.

A shared execution strategy for multiple pattern mining requests over streaming data

In diverse applications ranging from stock trading to traffic monitoring, popular data streams are typically monitored by multiple analysts for patterns of interest. These analysts may submit similar pattern mining requests, such as cluster detection queries, yet customized with different parameter settings. In this work, we present an efficient shared execution strategy for processing a large number of density-based cluster detection queries with arbitrary parameter settings. Given the high algorithmic complexity of the clustering process and the real-time responsiveness required by streaming applications, serving multiple such queries in a single system is extremely resource intensive. The naive method of detecting and maintaining clusters for different queries independently is often in-feasible in practice, as its demands on system resources increase dramatically with the cardinality of the query workload. To overcome this, we analyze the interrelations between the cluster sets identified by queries with different parameters settings, including both pattern-specific and window-specific parameters. We introduce the notion of the growth property among the cluster sets identified by different queries, and characterize the conditions under which it holds. By exploiting this growth property we propose a uniform solution, called Chandi , which represents identified cluster sets as one single compact structure and performs integrated maintenance on them -- resulting in significant sharing of computational and memory resources. Our comprehensive experimental study, using real data streams from domains of stock trades and moving object monitoring, demonstrates that Chandi is on average four times faster than the best alternative methods, while using 85% less memory space in our test cases. It also shows that Chandi scales in handling large numbers of queries on the order of hundreds or even thousands under high input data rates.