| Target detection and localization is one of the key research challenges in sensor networks. In this paper we propose a heterogeneous wireless sensor network integrating imaging and non-imaging sensors to accomplish the detection and localization task in complex urban environments. The low-cost non-imaging sensors provide early detection and partial localization of potential targets and direct imaging sensors to focus on them. Accurate target location estimated by the imaging sensors is then used to calibrate the non-imaging sensors.
We evaluate our approach through simulation and implementation on a sensor network testbed that uses MicaZ motes equipped with magnetometers and a camera to track ferrous targets. Our preliminary results reveal that coordination across different sensing modalities increases localization accuracy and reduces the amount of imaging data that has to be processed by the network. |