Tiered Imaging

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Tiered Imaging

• Aman Kansal ,Mohammad Rahimi

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High Resolution Imaging

• Design Objective
• Maximize spatial coverage
• Maximize resolution
• Sensing performance depends on resolution
• But minimize sensing resources
• Impractical to deploy high-res. sensors at high
  density due to cost, bandwidth and power
  limitations

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Actuated Sensors
Using motion, fewer sensors can have wider
coverage
Increase in Covered Volume
Pan 7.74
Tilt 4.04
Zoom 73
Pan and Tilt 28
Pan and Zoom 6361
Pan, Tilt and Zoom 226940
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Where to sense?

• Direct high resolution sensing at regions of
  interest
• Detect events at low resolution
• Minimize effect of obstacles to coverage
• Minimize actuation delay

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Motion Control Framework
Medium Characteristics, H
Distributed Motion Coordination Algorithm dxf(H
,X,q,C)
dx, small actuation command
Motion Actuators
Belief about Phenomenon, q
Current Configuration, X
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Experimental Test-bed
Obstacles
Camera-4
Laser Ranger
Event tag
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Experimental Test-bed
Central experiment monitor
Cameras controller processes (Distributed)
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Combining Multiple Tiers

• High-density deployment of low resolution sensors
  with low density deployment of high resolution
  sensors

Event