A method for optimum sensor layout for detecting an intruder may include selecting candidate sensor locations within a representation of an area of regard. The method may also include determining a sub-region of detection for each sensor based on a preset probability of detection of the intruder traversing a sub-region associated with each sensor. The method may additionally include determining each pair of sensors with overlapping sub-regions of detection and determining a lowest probability of detection for any path between each pair of sensors with overlapping sub-regions of detection. The method may further include determining an optimum layout of sensor locations or sensors from candidate sensor locations based on a path of the lowest probability of detection for any path between each pair of sensors with overlapping sub-regions of detection.