I. Introduction
Video-based surveillance systems have become prevalent in modern day society as a result of the increased security threat. Traditionally, surveillance systems use multiple fixed or pan-tilt-zoom (PTZ) cameras to enable observation of areas and/or personnel. Fixed and PTZ cameras have only limited fields of view at any one time and thus require several cameras to cover larger urban areas. To address this, mobile platforms using omnidirectional cameras have been introduced. Mobile omnidirectional camera platforms minimise the need for significant surveillance infrastructure as a single camera system can cover a vast area. They also increases the operational versality with the overall improvement to situational awareness.