Application of heterogeneous multiple camera system with panoramic capabilities in a harbor environment

In a harbor environment threats like explosives-packed rubber boats, mine-carrying swimmers and divers must be detected in an early stage. This paper describes the integration and use of a heterogeneous multiple camera system with panoramic observation capabilities for detecting these small vessels in the Den Helder New Harbor in the Netherlands. Results of a series of experiments with different targets are presented. An outlook to a future sensor package containing panoramic vision is discussed.