TARGET TRACKING

& CONTOUR DETECTION

Lulea University of Technology
Department of Computer science and
Electrical Engineering

Idowu Samuel - samido@student.ltu.se

Mohammad Khairul
Muthanna Abdulhussein
AGENDA
 Target tracking and WSN
 Application of Target Tracking
 VigilNET: A WSN Target Tracking Project
 Detection and Tracking Framework
 Classifications
 Techniques of Target Tracking
 Contour Detection
 Application of Contour Detection
 Questions ?
 What is Target Tracking ?

 Finding spatial coordinate of persons or objects

on the move and supplying a timely ordered
sequence of respective location data to a model

 Target tracking is always an aftermath of target

detection.
 WSN and Target Tracking

 Target tracking is an important application of

WSN
 WSN are composed of large number or sensor
nodes
 nodes are small in size and communicate
wirelessly in short distances
 sensor nodes can perform sensing, data
processing and communicating.
 WSN and Target Tracking
 Each sensor node has multiple modalities for
sensing the environment such as
○ Acoustic
○ Seismic
○ Light
○ Temperature, etc
 each sensor can sense only one modality at
a time.
 These modalities are used in detecting and
tracking a moving target
 Application of WSN Target Tracking
 Military (surveillance,
targeting):
○ surveilling troops on
the battle field
○ detect, analyze, and
predict the movement
of hostile vehicles
○ Target identification
○ command and control
○ Weapon management
and weapon guidance
 Application of WSN Target Tracking
 Public (traffic control):
vehicles on the freeway
 air traffic control
 Healthcare and rescue: (tracking elderly, drug
administration)
 Border Security.
 Intrusion detection
Application of WSN Target Tracking
 Disaster And Emergency Response
 Monitoring Wildlife Animals:
Better understanding of region/animal relationship
Biodiversity
VigilNET : A Target tracking Project
 VigilNET
VigilNet is a wireless sensor network for military
surveillance.
general objective of VigilNet is to alert military
command and control units of the occurrence of
events of interest in hostile regions
The events of interest are the presence of people,
people with weapons, and large and small
vehicles.
information obtained is reported to a remote base
station within an acceptable latency
VigilNET
 VigilNET
 VigilNet is an operational self-organizing
sensor network
 Implores over 200 XSM mote nodes
 Helps in unmanned surveillance where high
degree of stealthiness is required
VigilNET
 VigilNET: really?
 The VigilNet architecture is built on top of
TinyOS
 VigilNet currently consists about 40,000 lines of
NesC and Java code, running on XSM, Mica2
and Mica2dot platforms.
 Designed to scale to at least 1000 XSM motes
and cover minimal 100x1000 square meters to
ensure operational applicability.
 Also, VigilNet project is sponsored by DARPA
(Defense Advanced Research Projects Agency)
 http://www.cs.virginia.edu/wsn/vigilnet/index.html
Why sensor networks? Why not GPS?
 Location tracking is done using GPS. However,
GPS has its limitations.
 Some of the limitations are:
○ It cannot be used in most indoor environments because It
depends on Line of Sight.
○ Also in non-urban outdoor settings, GPS does not yield
accurate results because it depends too much on factors
such as terrain, foliage and topographical settings of the
place where the object is located.
○ GPS receivers may be too large, too expensive or too power
intensive
Why sensor networks? Why not GPS?
 Using wireless sensor networks provides us with
a better option
since the nodes are relatively small, inexpensive and
low power devices.
They are much more viable considering economic and
convenience constraints.
 Detection and Tracking Framework
 Tracking system require the sensors to work in
groups in order to improve the reliability of
target tracking algorithms.
 Nodes needs to be coordinated in some way
 The 3 target tracking techniques used are
Tree based
Cluster based
prediction based
 Tree Based
 2 types of tree based techniques

Scalable Tracking Using Networked sensors

(STUN)
Dynamic Convoy Tree-based Collaboration (DCTC)
 Scalable Tracking Using Networked
Sensors (STUN)
 handles a large number of moving objects at
once.
 uses a hierarchy to connect the sensors
 The leaves are sensors.
 The querying point as the root.
 The other nodes are communication nodes.
Scalable Tracking Using Networked
Sensors (STUN)
Scalable Tracking Using Networked
Sensors (STUN)

 Advantage
Message pruning
Routing
 Disadvantage
Building the tree
structure
 Dynamic Convoy Tree-Based
Collaboration (DCTC)

 DCTC relies on a tree structure called “convoy

tree”
 The tree is dynamically configured to add some
nodes and prune some nodes as the target
moves.
Dynamic Convoy Tree-Based
Collaboration (DCTC)
 Cluster-Based
 Static Clustering.
 Dynamic Clustering.
 Target Classification

 SINGLE TARGETS
 such as a live body under rubble.
 MULTIPLE TARGETS
such as various animals monitored in their habitat.
 Tracking of a Single Target

 Suppose a target
enters Cell A.
Tracking of the
target consists of the
following five steps:
 Tracking of a Single Target
1. Some and perhaps all of the nodes in Cell A
detect the target.
2. each time instant, the manager nodes determine
the location of the target from active nodes
3. The manager nodes use locations of the target
to predict the location of the target future time
instants.
4. The predicted positions of the target are used to
create new cells that the target is likely to enter
5. Once the target is detected in one of the new
cells, it is designated as the new active cell
 Tracking of a multiple target (MTT)

 In the simple case

Targets occupy distinct space-time cells
Multiple instances of algorithm can be used in parallel
 A varying number of indistinguishable targets
○ Arise at random in space and time
○ Move with continuous motions
○ Persist for a random length of time and disappear
 Goal: For each target, find its track!!!
 Tracking of a multiple target (MTT)

 Existing Algorithms(MTT Algorithms)

MHT (Multiple Hypothesis Tracker)
JPDAF (Joint Probabilistic Data Association Filter)
MTMR, PMHT, etc.
 Classification of Target Tracking

The two approaches for Target Tracking WSN are

 Centralized target
 Distributed
 Centralized Approach
 Sensors in the sensing network detect the
target and send the target signatures to the
Base Station (BS)
 BS determines whether there is a target or not
by using the target signatures sent from the
sensing nodes and tracks if there is the target
 There may be many sensors transporting target
information to BS at the same time
 BS runs out of power faster because of
information overload
 Distributed approach
 The whole sensor
network is divided into
regions in form of clusters
 There is one manager
node in each region
(cluster head)
 The processing tasks are
performed at the manager
nodes, not only at base
station.
 Target Localization
 Localization primarily refers to the detection of
spatial coordinates of a node or an object
 Trilateration technique:
Intersection of three circles is used to determine the
object location
While object is being tracked by three sensors, distance
to it from a fourth sensor is also being calculated
simultaneously.
the distance information and a simple mathematical
technique is used in predicting the target’s position
Forth sensor node is not used for detection but only for
estimation of the target’s location.
Contour Detection in WSN
 Contour
 The Contour in geometry is an outline especially
of a curve or irregular figure
 It is the track of the boundaries of interest
that captures some topological changes
 Contour Detection in WSN

 Contour detection is carried out on a sensor

field
 The sensor field often spans over a large
geographic area and encompasses
hundreds of thousands sensors to observe
a particular physical phenomenon.
 A contour map is a useful data
representation schema that provides an
efficient way to visualize the field monitored
by sensor networks.
Contour Detection in WSN
 Contour Detection in WSN
 A group nodes Generate contour maps for the
region which it covers
 Contour lines(isoline) offer more detailed
information about the underlying phenomenon
such as signal’s amplitude, density and source
location.
 Contour maps provide an efficient way to
visualize fields sensed by wireless sensor
networks.
 Application of Contour Detection
 Mining Industry.
 Used in Face recognition, Pattern matching
object tracking in the pedestrian tracking
network.
 Transportation Congestion.
 Environmental Monitoring.
 Industrial sensing and diagnostics
…Questions