MSc dissertation proposal 2018/2019

Mobile Visual Surveillance

Introduction:

Surveillance robots move, usually, in environments previously observed. Vision sensors, the Microsoft Kinect, allow acquiring 3D data of the environments. This MSc project proposal is concerned with using Kinect sensors for reporting scene-view changes.

Detailed description:

Sensing and moving in an unknown cluttered environment is nowadays facilitated by the recent introduction in the market of the MS Kinect camera. The Kinect camera provides not only visual information of the scenario, but also depth information (3D information).

Some recent research works show that by choosing the proper scene representations it is possible to do data acquisition, processing and integration with a standard PC [Pereira14, Mendonça14].

Considering that the robot acquires information in a first run, and then can use the acquired information to find structure changes in the environment, such as objects moved from a place.

The work is organized in the following main steps:

1) data acquisition, implies moving the robot within the scene and capturing scene information

2) data integration into a single scene representation

3) demonstration of an autonomous finding of changes inside the scene

References:

[Pereira14] Robotic Home Sentinel, David Pereira, MSc thesis, MEEC/IST, 2014

[Mendonça14] Omni-Telepresence using Mobile Robots, José Mendonça, MSc thesis, MEEC/IST, 2014

[MS-Kinect] http://en.wikipedia.org/wiki/Kinect

Expected results:

At the end of the work the students will have enriched their knowledge in:

* Computer vision

Observations:

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More MSc dissertation proposals on Computer and Robot Vision in:

http://omni.isr.ist.utl.pt/~jag