@article {13228,
	title = {Visibility analysis and sensor planning in dynamic environments},
	journal = {Computer Vision-ECCV 2004},
	year = {2004},
	month = {2004///},
	pages = {175 - 189},
	abstract = {We analyze visibility from static sensors in a dynamic scene with moving obstacles (people). Such analysis is considered in a probabilistic sense in the context of multiple sensors, so that visibility from even one sensor might be sufficient. Additionally, we analyze worst-case scenarios for high-security areas where targets are non-cooperative. Such visibility analysis provides important performance characterization of multi-camera systems. Furthermore, maximization of visibility in a given region of interest yields the optimum number and placement of cameras in the scene. Our analysis has applications in surveillance {\textendash} manual or automated {\textendash} and can be utilized for sensor planning in places like museums, shopping malls, subway stations and parking lots. We present several example scenes {\textendash} simulated and real {\textendash} for which interesting camera configurations were obtained using the formal analysis developed in the paper.},
	author = {Mittal,A. and Davis, Larry S.}
}
