Rao-Blackwellized Particle Filter for Security Surveillance
نویسندگان
چکیده
Nowadays, the necessity of safeguarded environments is stronger than ever. The defence of public areas against terroristic threats requires intelligent security assistance systems that comprise state-of-the-art surveillance technology to localize persons with hazardous materials. The recent progress in the detection of hazardous materials by a new generation of chemical sensors leads to an increasing need of appropriate sensor models. Though, the detection capability of such sensors is quite high, their spatio-temporal resolution is very limited. Hence, a single chemical sensor is not able to localize hazardous material and assign it to a person. This drawback can be compensated by fusing the information of multiple chemical sensors with the location estimates of persons in an observed area. In this work, we are describing a RaoBlackwellized Particle Filter (RBPF) that fuses person tracks with chemical sensors and thereby localizes persons carrying hazardous material.
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