Skip to Main Content
Video surveillance systems are becoming increasingly important for crime investigation and deterrence, and the number of cameras installed in public space is increasing. However, many cameras installed at fixed positions are required to observe a wide and complex area. In order to efficiently observe such a wide area at lower cost, mobile robots are an attractive option. In this paper, we propose a method for determining the traveling route of a mobile surveillance camera. Our method is based on mixed integer linear programming and obtains an optimum traveling route such that a camera with a certain visual angle and visual distance can observe the entire region at the shortest intervals. Through our experiments, we apply this method to several artificially generated data and data for a real university campus and demonstrate that effective patrol courses for specified mobile surveillance cameras can be generated.