Tiered Imaging Aman Kansal,Mohammad Rahimi

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

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

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

Motion Control Framework Belief about Phenomenon, q dx, small actuation command Current Configuration, X Distributed Motion Coordination Algorithm dx=f(H,X,q,C) Medium Characteristics, H Motion Actuators

Experimental Test-bed Obstacles Camera-4 Laser RangerEvent tag

Experimental Test-bed Cameras controller processes (Distributed) Central experiment monitor

Combining Multiple Tiers High-density deployment of low resolution sensors with low density deployment of high resolution sensors Event