ABSTRACT
In this chapter we present a multi-camera platform to monitor the environment that is integrated to a multi-robot platform to enhance situation awareness. The multi-camera platform consists of two distinct stereo camera systems and use different vision approaches that will be described in detail. One of the stereo vision systems is applied to reason on object manipulation events, while the other system is used to detect an event such as a person leaving a bag in a corridor. The results from either of these two systems are encapsulated in a string message and sent via wireless network to the multi-robot system that, on alarm, will dispatch a robot to monitor the region of interest. Our ultimate goal is that of maximizing the quality of information gathered from a given area, thus implementing a heterogeneous mobile and reconfigurable multi-camera video-surveillance system.
