Optimal Camera Research Articles

EmotionCast: An Emotion-Driven Intelligent Broadcasting System for Dynamic Camera Switching.

Traditional broadcasting methods often result in fatigue and decision-making errors when dealing with complex and diverse live content. Current research on intelligent broadcasting primarily relies on preset rules and model-based decisions, which have limited capabilities for understanding emotional dynamics. To address these issues, this study proposed and developed an emotion-driven intelligent broadcasting system, EmotionCast, to enhance the efficiency of camera switching during live broadcasts through decisions based on multimodal emotion recognition technology. Initially, the system employs sensing technologies to collect real-time video and audio data from multiple cameras, utilizing deep learning algorithms to analyze facial expressions and vocal tone cues for emotion detection. Subsequently, the visual, audio, and textual analyses were integrated to generate an emotional score for each camera. Finally, the score for each camera shot at the current time point was calculated by combining the current emotion score with the optimal scores from the preceding time window. This approach ensured optimal camera switching, thereby enabling swift responses to emotional changes. EmotionCast can be applied in various sensing environments such as sports events, concerts, and large-scale performances. The experimental results demonstrate that EmotionCast excels in switching accuracy, emotional resonance, and audience satisfaction, significantly enhancing emotional engagement compared to traditional broadcasting methods.

Nonlinear optimization of optical camera multiparameter via triple integrated Gradient-based optimizer algorithm

Metaheuristic techniques are widely used to solve various complex real-world problems. Camera calibration is a critical task in machine vision, which aims to determine the optical camera parameters through 2D image features and corresponding 3D spatial features. To overcome the limitations of traditional methods, such as weak local optima avoidance and low calibration accuracy, a triple integrated Gradient-based optimizer (TIGBO_CC) is proposed for nonlinear optimization of optical camera parameters. Several improvements are made to the original Gradient-based optimizer (GBO). First, in the exploration phase, a fitness-distance balance is adopted to select the most contributing candidate to guide the update of the solution. Second, a random search technique is adopted in the exploitation phase. The switching between the original mode and the additional mode follows the probability. Finally, a neighborhood local search is also introduced. Small-step fine search is performed near the optimal solution to improve the quality of the final solution. TIGBO_CC is evaluated on 12 classical functions, the CEC2020 test suite, and the CEC2022 test suite. The experiments include sensitivity analysis, effectiveness analysis, scalability analysis, function value, convergence curve, box plot, Friedman test, Wilcoxon test, etc. Furthermore, a nonlinear camera calibration model is established. Taking the mean reprojection error as the objective function, TIGBO_CC solves the optimal optical camera parameters by minimizing this function. In different scenarios, the calibration method based on TIGBO_CC has high precision and strong reproducibility. Comprehensive analysis shows that TIGBO_CC has excellent optimization ability and practicality.

Viewpoint Selection for 3D-Games with f-Divergences.

In this paper, we present a novel approach for the optimal camera selection in video games. The new approach explores the use of information theoretic metrics f-divergences, to measure the correlation between the objects as viewed in camera frustum and the ideal or target view. The f-divergences considered are the Kullback-Leibler divergence or relative entropy, the total variation and the χ2 divergence. Shannon entropy is also used for comparison purposes. The visibility is measured using the differential form factors from the camera to objects and is computed by casting rays with importance sampling Monte Carlo. Our method allows a very fast dynamic selection of the best viewpoints, which can take into account changes in the scene, in the ideal or target view, and in the objectives of the game. Our prototype is implemented in Unity engine, and our results show an efficient selection of the camera and an improved visual quality. The most discriminating results are obtained with the use of Kullback-Leibler divergence.

Automated Camera Pose Generation for High-Resolution 3D Reconstruction of Bridges by Unmanned Aerial Vehicles

This work explores the possibility of automating the aerial survey of bridges to generate high-resolution images necessary for digital damage inspection. High-quality unmanned aerial vehicle (UAV) based 3D reconstruction of bridges is an important step towards autonomous infrastructure inspection. However, the calculation of optimal camera poses remains challenging due to the complex structure of bridges and is therefore often conducted manually. This process is time-consuming and can lead to quality losses. Research in this field to automate this process is yet sparse and often requires high informative models of the bridge as the base for calculations, which are not given widely. Therefore, this paper proposes an automated camera pose calculation method solely based on an easily accessible polygon mesh of the bridge. For safe operation, point cloud data of the environment are used for automated ground detection and obstacle avoidance including vegetation. First, an initial set of camera poses is generated based on a voxelized mesh created in respect to the quality requirements for 3D reconstruction using defined camera specification. Thereafter, camera poses not fulfilling safety distances are removed and specific camera poses are added to increase local coverage quality. Evaluations of three bridges show that for diverse bridge types, near-complete coverage was achieved. Due to the low computational effort of the voxel approach, the runtime was kept to a minimum, even for large bridges. The subsequent algorithm is able to find alternative camera poses even in areas where the optimal pose could not be placed due to obstacles.

Critical parameters to standardize the size and concentration determination of nanomaterials by nanoparticle tracking analysis

The size and concentration are critical for the diagnostic and therapeutic applications of nanomaterials but the accurate measurement remains challenging. Nanoparticle tracking analysis (NTA) is widely used for size and concentration determination. However, highly repeatable standard operating procedures (SOPs) are absent. We adopted the “search-evaluate-test” strategy to standardize the measurement by searching the critical parameters. The particles per frame are linearly proportional to the sample concentration and the measured results are more accurate and repeatable when the concentration is 108-109 particles/ml. The optimal detection threshold is around 5. The optimal camera level is such that it allows clear observation of particles without diffractive rings and overexposure. The optimal speed is ≤ 50 in AU and ∼ 10 μl/min in flow rate. We then evaluated the protocol using polydisperse polystyrene particles and we found that NTA could discriminate particles in bimodal mixtures with high size resolution but the performance on multimodal mixtures is not as good as that of resistive pulse sensing (RPS). We further analyzed the polystyrene particles, SiO2 particles, and biological samples by NTA following the SOPs. The size and concentration measured by NTA differentially varies to those determined by RPS and transmission electron microscopy.

Reflectance characterization of Starlink-like satellite with HELIOS brightness testing facility

The HELIOS (High Efficiency Light Intensity Observation System) project addresses the issue of excessive brightness from LEO satellite constellations. The system aims to develop a reflectance model of a satellite prior to launch, enabling the validation of compliance with astronomer guidelines, which suggest a minimum magnitude of 7. This ensures that the constellation is not visible to the naked eye and does not excessively interfere with astronomical observations. Additionally, the reflectance model obtained can be used for attitude determination by comparing the light curves with those obtained from observations. This application extends to Space Traffic Management, debris reentry prediction, and active debris removal. The system utilizes a light source consisting of 14 high-power LEDs with different wavelengths that replicate the solar spectrum. The light is positioned on an arc and can slide along a rail, allowing sampling at various angles. The arc itself can rotate on its axis, enabling the placement of the light source at any point on the hemisphere. At the center of the hemisphere, a scaled 3D printed model of the satellite under study is placed, with surface finishes resembling the actual satellite. Creating models with varying levels of detail permits to assess their impact on the reflectance model. Finally, the robotic arm Arm4NDO (Arm For Near Distance Observations) permits the movement of a high-efficiency quantum camera mounted at its end across the entire hemisphere’s surface for data acquisition. The camera records a video, stopping at points of interest for capturing frames. To strike a balance between continuous data acquisition and reasonable testing times, both the light source and capture points are positioned every 15° in elevation and azimuth. The initial test campaign aimed to determine optimal camera settings (exposure, aperture, and ISO) to achieve good model visibility and a dark background. Preliminary tests focused on Starlink’s chassis and the most significant observation configurations. Frames of interest were extracted from the videos, and their luminous flux (sum of pixel intensity values) was derived. With the obtained data, curves normalized relative to the maximum were plotted, allowing for a comparison of flux variations among different configurations.

Multi-camera tracking of mechanically thrown objects for automated in-plant logistics by cognitive robots in Industry 4.0

AbstractEmploying cognitive robots, capable of throwing and catching, is a strategy aimed at expediting the logistics process within Industry 4.0’s smart manufacturing plants, specifically for the transportation of small-sized manufacturing parts. Since the flight of mechanically thrown objects is inherently unpredictable, it is crucial for the catching robot to observe the initial trajectory with utmost precision and intelligently forecast the final catching position to ensure accurate real-time grasping. This study utilizes multi-camera tracking to monitor mechanically thrown objects. It involves the creation of a 3D simulation that facilitates controlled mechanical throwing of objects within the internal logistics environment of Industry 4.0. The developed simulation empowers users to define the attributes of the thrown object and capture its trajectory using a simulated pinhole camera, which can be positioned at any desired location and orientation within the in-plant logistics environment of flexible manufacturing systems. The simulation facilitated ample experimentation to be conducted for determining the optimal camera positions for accurately observing the 3D interception positions of a flying object based on its apparent size on the camera’s sensor plane. Subsequently, a variety of calibrated multi-camera setups were experimented while placing cameras at identified optimal positions. Based on the obtained results, the most effective multi-camera configuration setup is derived. Finally, a training dataset is prepared for 3000 simulated throwing experiments where the initial part of the trajectory consists of observed interception positions, through derived best multi-camera setup, and the final part consists of actual positions. The encoder–decoder Bi-LSTM deep neural network is proposed and trained on this dataset. The trained model outperformed the current state-of-the-art by accurately predicting the final 3D catching point, achieving a mean average error of 5 mm and a root-mean-square error of 7 mm in 200 real-world test experiments.

Fluorescence guided surgery imaging systems for breast cancer identification: a systematic review.

Breast-conserving surgery (BCS) is limited by high rates of positive margins and re-operative interventions. Fluorescence-guided surgery seeks to detect the entire lesion in real time, thus guiding the surgeons to remove all the tumor at the index procedure. Our aim was to identify the optimal combination of a camera system and fluorophore for fluorescence-guided BCS. A systematic review of medical databases using the terms "fluorescence," "breast cancer," "surgery," and "fluorescence imaging" was performed. Cameras were compared using the ratio between the fluorescent signal from the tumor compared to background fluorescence, as well as diagnostic accuracy measures, such as sensitivity, specificity, and positive predictive value. Twenty-one studies identified 14 camera systems using nine different fluorophores. Twelve cameras worked in the infrared spectrum. Ten studies reported on the difference in strength of the fluorescence signal between cancer and normal tissue, with results ranging from 1.72 to 4.7. In addition, nine studies reported on whether any tumor remained in the resection cavity (5.4% to 32.5%). To date, only three studies used the fluorescent signal for guidance during real BCS. Diagnostic accuracy ranged from 63% to 98% sensitivity, 32% to 97% specificity, and 75% to 100% positive predictive value. In this systematic review, all the studies reported a clinically significant difference in signal between the tumor and normal tissue using various camera/fluorophore combinations. However, given the heterogeneity in protocols, including camera setup, fluorophore studied, data acquisition, and reporting structure, it was impossible to determine the optimal camera and fluorophore combination for use in BCS. It would be beneficial to develop a standardized reporting structure using similar metrics to provide necessary data for a comparison between camera systems.

Optimal camera focal length detection method for GPS-supported bundle adjustment in UAV photogrammetry

The global positioning system (GPS) supported bundle adjustment (BA) method of unmanned aerial vehicle (UAV) photogrammetry significantly minimises the number of ground control points (GCPs); however, there are often systematic errors in the vertical axis direction of the 3D reconstruction results. In this study, a method that relies only on a small number of GCPs for detecting and estimating the optimal focal length of the camera is proposed. First, the scene structure information is obtained based on the conventional GPS-supported BA optimisation method, and the camera focal length is redefined based on a single GCP. Second, a second-order polynomial is used to fit the redefined camera focal lengths of multiple GCPs and the corresponding positioning accuracy. The highest accuracy position is selected as the optimal focal length of the camera. Finally, the optimal focal length of the camera is taken as a constant, and the conventional GPS-supported BA method is used to complete the optimisation again. The experimental results show that under the same number and distribution of GCPs, the camera detection method’s total positioning accuracy proposed in this paper is improved by an average of 37.64%. The optimal camera focal length obtained by the method can correct the systematic error in the vertical direction while keeping the vertical accuracy consistent with the horizontal accuracy.

Optimising computer vision-based ergonomic assessments: sensitivity to camera position and monocular 3D pose model

Numerous computer vision algorithms have been developed to automate posture analysis and enhance the efficiency and accuracy of ergonomic evaluations. However, the most effective algorithm for conducting ergonomic assessments remains uncertain. Therefore, the aim of this study was to identify the optimal camera position and monocular 3D pose model that would facilitate precise and efficient ergonomic evaluations. We evaluated and compared four currently available computer vision algorithms: Mediapipe BlazePose, VideoPose3D, 3D-pose-baseline, and PSTMO to determine the most suitable model for conducting ergonomic assessments. Based on the findings, the side camera position yielded the lowest Mean Absolute Error (MAE) across static, dynamic, and combined tasks. This positioning proved to be the most reliable for ergonomic assessments. Additionally, VP3D_FB demonstrated superior performance among evaluated models. Practitioner Summary: This study aimed to determine the most effective computer vision algorithm and camera position for precise and efficient ergonomic evaluations. Evaluating four algorithms, we found that the side camera position with VideoPose3D yielded the lowest Mean Absolute Error (MAE), ensuring precise and efficient evaluations.

Optimising camera and flight settings for ultrafine resolution mapping of artificial night-time lights using an unoccupied aerial system

Light pollution from artificial night-time lights (ANTLs) is a global health, economic, and environmental issue. Remote sensing and unoccupied aerial systems (UASs) provide efficient and cost-effective ways to study ANTL spatial patterns and dynamics over large areas. With ultrahigh-resolution images that can identify individual light sources, UAS offers more detailed image than satellite imagery. However, standardisation and optimisation of camera and flight settings during the acquisition ANTL UAS images is lacking. The aim of this paper is to determine the camera and flight settings to capture high-quality ANTL using a DJI Matrice 300 RTK aircraft with a Zenmuse P1 camera. It emphasises the importance of selecting appropriate camera settings for high-quality ANTL images, which can benefit future research. Results show significant image quality gains when camera and flight settings are chosen appropriately in relation to the lighting conditions. We present three experiments demonstrating a range of camera settings, and we provide practical recommendations for high-quality night-time image collection. The optimal camera settings were determined to be an exposure time of 0.0166 s, ISO of 25600, and aperture of 2.97. This experiment produced outstanding results, with 85% of images having a blur extent below 0.40.

A comparative analysis of multi-biometrics performance in human and action recognition using silhouette thermal-face and skeletal data

Biometrics is a field that has been given importance in recent years and has been extensively studied. Biometrics can use physical and behavioural differences that are unique to individuals to recognize and identify them. Today, biometric information is used in many areas such as computer vision systems, entrance systems, security and recognition.In this study, a new biometrics database containing silhouette, thermal face and skeletal data based on the distance between the joints was created to be used in behavioural and physical biometrics studies. The fact that many cameras were used in previous studies increases both the processing intensity and the material cost. This study aimed to both increase the recognition performance and reduce material costs by adding thermal face data in addition to soft and behavioural biometrics with the optimum camera. The presented data set was created in accordance with both motion recognition and person identification.Various data loss scenarios and multi-biometrics approaches based on data fusion have been tried on the created data sets and the results have been given comparatively. In addition, the correlation coefficient of the motion frames method to obtain energy images from silhouette data was tested on this dataset and yielded high-accuracy results for both motion and person recognition.

A simple framework for maximizing camera trap detections using experimental trials

Camera trap data are biased when an animal passes through a camera’s field of view but is not recorded. Cameras that operate using passive infrared sensors rely on their ability to detect thermal energy from the surface of an object. Optimal camera deployment consequently depends on the relationship between a sensor array and an animal. Here, we describe a general, experimental approach to evaluate detection errors that arise from the interaction between cameras and animals. We adapted distance sampling models and estimated the combined effects of distance, camera model, lens height, and vertical angle on the probability of detecting three different body sizes representing mammals that inhabit temperate, boreal, and arctic ecosystems. Detection probabilities were best explained by a half-normal-logistic mixture and were influenced by all experimental covariates. Detection monotonically declined when proxies were ≥6 m from the camera; however, models show that body size and camera model mediated the effect of distance on detection. Although not a focus of our study, we found that unmodeled heterogeneity arising from solar position has the potential to bias inferences where animal movements vary over time. Understanding heterogeneous detection probabilities is valuable when designing and analyzing camera trap studies. We provide a general experimental and analytical framework that ecologists, citizen scientists, and others can use and adapt to optimize camera protocols for various wildlife species and communities. Applying our framework can help ecologists assess trade-offs that arise from interactions among distance, cameras, and body sizes before committing resources to field data collection.

Optimal Camera Placement to Generate 3D Reconstruction of a Mixed-Reality Human in Real Environments

Virtual reality and augmented reality are increasingly used for immersive engagement by utilizing information from real environments. In particular, three-dimensional model data, which is the basis for creating virtual places, can be manually developed using commercial modeling toolkits, but with the advancement of sensing technology, computer vision technology can also be used to create virtual environments. Specifically, a 3D reconstruction approach can generate a single 3D model from image information obtained from various scenes in real environments using several cameras (multi-cameras). The goal is to generate a 3D model with excellent precision. However, the rules for choosing the optimal number of cameras and settings to capture information from in real environments (e.g., actual people) employing several cameras in unconventional positions are lacking. In this study, we propose an optimal camera placement strategy for acquiring high-quality 3D data using an irregular camera placement, essential for organizing image information while acquiring human data in a three-dimensional real space, using multiple irregular cameras in real environments. Our results show that installation costs can be lowered by arranging a minimum number of multi-camera cameras in an arbitrary space, and automated virtual human manufacturing with high accuracy can be conducted using optimal irregular camera location.

IoVT-based efficient solution for optimal active smart camera selection in a tracking mission

Nowadays, to ensure people’s and property’s safety, cities have dozens of cameras installed on almost every corner. However, the haphazard deployment of these cameras often results in overlapping fields of view, leading to redundant processing of the same events by multiple cameras. This situation requires more power, huge bandwidth, and more storage capacity for collecting, processing and distributing multimedia data over the network. To overcome these challenges, we propose a novel Internet of Video Things-based system that efficiently reduces the number of cameras involved in processing redundant events. The proposed system operates through a two-step process. Firstly, a leader is elected from a group of cameras based on the degree of overlap in their fields of view, serving as the coordinator. Secondly, the system intelligently selects suitable assistants from neighboring cameras to complement the leader’s vision when it becomes inadequate for effective object tracking. Consequently, only the leader and its assistants remain active, while other neighboring cameras remain in an inactive state. The evaluation demonstrates that our IoVT-based solution offers an efficient approach by minimizing redundancy, optimizing resource utilization and overcoming the challenges posed by the random installation of cameras in urban environments.

IMPROVING CAMERA POSE ESTIMATION USING SWARM PARTICLE ALGORITHMS

Abstract. Most computer vision and photogrammetry applications rely on accurately estimating the camera pose, such as visual navigation, motion tracking, stereo photogrammetry, and structure from motion. The Essential matrix is a well-known model in computer vision that provides information about the relative orientation between two images, including the rotation and translation, for calibrated cameras with a known camera matrix. To estimate the Essential matrix, the camera calibration matrices, which include focal length and principal point location must be known, and the estimation process typically requires at least five matching points and the use of robust algorithms, such as RANSAC to fit a model to the data as a robust estimator. From the usually large number of matched points, choosing five points, the Essential matrix can be determined based on a simple solution, which could be good or bad. Obtaining a globally optimal and accurate camera pose estimation, however, requires additional steps, such as using evolutionary algorithms (EA) or swarm algorithms (SA), to prevent getting trapped in local optima by searching for solutions within a potentially huge solution space.This paper aims to introduce an improved method for estimating the Essential matrix using swarm particle algorithms that are known to efficiently solve complex problems. Various optimization techniques, including EAs and SAs, such as Particle Swarm Optimization (PSO), Gray Wolf Optimization (GWO), Improved Gray Wolf Optimization (IGWO), Genetic Algorithm (GA), Salp Swarm Algorithm (SSA) and Whale Optimization Algorithm (WOA), are explored to obtain the global minimum of the reprojection error for the five-point Essential matrix estimation based on using symmetric geometric error cost function. The experimental results on a dataset with known camera orientation demonstrate that the IGWO method has achieved the best score compared to other techniques and significantly speeds up the camera pose estimation for larger number of point pairs in contrast to traditional methods that use the collinearity equations in an iterative adjustment.

Camera Attributes Control for Visual Odometry With Motion Blur Awareness

The practical application of visual odometry (VO) is challenging under High Dynamic Range (HDR) environments which has a significant impact on the quality of feature point tracking. There are two key attributes that affect the image quality of a camera, namely exposure time and gain. The goal of camera attributes control research is to design algorithms that can actively adjust camera acquisition attributes to obtain clear, information-rich images. We propose an efficient and stable camera attributes control method with distinct image quality metrics and a linear convergence search algorithm. Specifically, we propose to use the weighted sum of image gradient and entropy to represent the image quality. Its first order derivative is also computed for a line search algorithm to determine the optimal camera exposure. Then, the algorithm estimates scene change speed by optical flow and finds out the maximum exposure time without motion blur. Ultimately, the maximum exposure time and optimal camera exposure are used to determine the camera properties including exposure time and gain. Additionally, the proposed method speeds up the convergence of the algorithm with the help of simulated image generation which enables nearly optimal attributes to be obtained directly from an overexposed or underexposed image. To validate the proposed approach, we test it in challenging HDR environments with fast motion and compare it with built-in automatic exposure. It will be open source for the benefit of the community.

NHK Meta Studio: A Compact Volumetric TV Studio for 3-D Reconstruction

Many studies have been conducted on the 3D reconstruction of subjects using multiple fixed cameras. Accepting the trade-off between the number of cameras and reconstruction quality, our studio is designed to capture high-quality models of one or two subjects for TV program use. Several cameras are mounted on a hemispherical dome with the stage in the center and a cloth cover on the frame for chroma-keying. The optimal camera numbers and placements for reconstruction were determined by simulation, and the 3D reconstruction was performed as a point cloud by a combination of visual hull and stereo matching. The quality was still not high enough, however, so we also added a surface light field to the point cloud to obtain the weighted average of rays from camera images close to the viewpoint. In the final stage, the images were then combined to the video, and errors generated during the reconstruction were compensated for by use of a deep neural network (DNN) for video translation. An offline processing studio has been built as a preliminary step towards real-time processing, and the reconstructed 3D images have been evaluated subjectively for a number of subjects. These studies confirm the effectiveness of this studio design.

Occlusion Avoidance in a Simulated Environment Using Reinforcement Learning

Neural network-based solutions have revolutionized the field of computer vision by achieving outstanding performance in a number of applications. Yet, while these deep learning models outclass previous methods, they still have significant shortcomings relating to generalization and robustness to input disturbances, such as occlusion. Most existing methods that tackle this latter problem use passive neural network architectures that are unable to act on and, thus, influence the observed scene. In this paper, we argue that an active observer agent may be able to achieve superior performance by changing the parameters of the scene, thus, avoiding occlusion by moving to a different position in the scene. To demonstrate this, a reinforcement learning environment is introduced that implements OpenAI Gym’s interface, and allows the creation of synthetic scenes with realistic occlusion. The environment is implemented using differentiable rendering, allowing us to perform direct gradient-based optimization of the camera position. Moreover, two additional methods are also presented, one utilizing self-supervised learning to predict occlusion segments, and optimal camera positions, while the other learns to avoid occlusion using Reinforcement Learning. We present comparative experiments of the proposed methods to demonstrate their efficiency. It was shown, via Bayesian t-tests, that the neural network-based methods credibly outperformed the gradient-based avoidance strategy by avoiding occlusion with an average of 5.0 fewer steps in multi-object scenes.

A Generic and Scalable Approach to Maximize Coverage in Diverse Indoor and Outdoor Multicamera Surveillance Scenarios

Efficient deployment of cameras optimizes the costs and benefits in a multicamera surveillance network. Most camera placement algorithms are developed for surveillance regions with predefined camera locations, where optimal orientation for every given camera location is determined to maximize coverage. The existing approaches to optimizing the number of cameras, locations, and orientations focus on specific scenarios and are neither generic nor scalable across diverse surveillance scenarios. This article proposes a generic and scalable reward penalty score (RPS) algorithm for optimal camera placement in diverse indoor and outdoor scenarios to efficiently attain a specified coverage requirement. The camera placement decision is driven by maximizing total coverage over the surveillance region with a minimum number of cameras at optimal locations and orientations. Based on the RPS algorithm, we extend the existing Greedy grid voting (GGV) algorithm that was limited to optimizing camera orientations for predefined locations. The extended GGV (EGGV) algorithm is broader in scope and optimizes the number of cameras, their locations, and orientations. Overall, the RPS algorithm produces superior coverage results over indoor and outdoor scenarios compared to the existing camera placement algorithms on map images of diverse surveillance scenarios ranging from small to large.