An Autonomous Mobile Robotic System for Surveillance of Indoor Environments
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 senso...
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2010-03-01
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Series: | International Journal of Advanced Robotic Systems |
Online Access: | https://doi.org/10.5772/7254 |
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doaj-2b26417712524b2d8a4158d1b7efcc1b2020-11-25T03:38:22ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142010-03-01710.5772/725410.5772_7254An Autonomous Mobile Robotic System for Surveillance of Indoor EnvironmentsDonato Di PaolaAnnalisa MilellaGrazia CicirelliArcangelo DistanteThe 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.https://doi.org/10.5772/7254 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Donato Di Paola Annalisa Milella Grazia Cicirelli Arcangelo Distante |
spellingShingle |
Donato Di Paola Annalisa Milella Grazia Cicirelli Arcangelo Distante An Autonomous Mobile Robotic System for Surveillance of Indoor Environments International Journal of Advanced Robotic Systems |
author_facet |
Donato Di Paola Annalisa Milella Grazia Cicirelli Arcangelo Distante |
author_sort |
Donato Di Paola |
title |
An Autonomous Mobile Robotic System for Surveillance of Indoor Environments |
title_short |
An Autonomous Mobile Robotic System for Surveillance of Indoor Environments |
title_full |
An Autonomous Mobile Robotic System for Surveillance of Indoor Environments |
title_fullStr |
An Autonomous Mobile Robotic System for Surveillance of Indoor Environments |
title_full_unstemmed |
An Autonomous Mobile Robotic System for Surveillance of Indoor Environments |
title_sort |
autonomous mobile robotic system for surveillance of indoor environments |
publisher |
SAGE Publishing |
series |
International Journal of Advanced Robotic Systems |
issn |
1729-8814 |
publishDate |
2010-03-01 |
description |
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. |
url |
https://doi.org/10.5772/7254 |
work_keys_str_mv |
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