Cooperative Monitoring by Fixed Cameras and Moving Cameras

In this paper we propose a human tracking system for dynamic environments based on the cooperation of fixed and moving cameras to create safe and secure spaces at construction sites. It is difficult for only the fixed cameras to monitor the all of a crowded dynamic environment because of the occlusion by the large objects such as the construction materials. We introduce moving cameras such as the mobile robots for monitoring these areas unobservable by fixed cameras. The moving cameras monitor the spaces unobservable of the fixed cameras that are caused by occlusion by the objects. The system is able to monitor a target position through cooperation of the fixed and moving cameras. Experimental results illustrate the effectiveness and feasibility of our proposed cooperative system.