Abstract: A method of acquiring a training set of images is carried out in an environment comprising at least one video surveillance camera, wherein the video camera is connected to a network including a video management server. The method comprises controlling a robot having an object attached to navigate to a plurality of locations, wherein each location is in the field of view of at least one camera. At each location, at least one camera which has the robot in its field of view is controlled to capture a plurality of images with different camera settings. Each image is stored with camera setting data defining the camera settings when the image was captured.