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Results on an Intrinsic Consensus Algorithm on SO(3) with Almost-Global Convergence
(Department of Electrical and Computer Engineering, Johns Hopkins University, 2012)
In this paper we propose a discrete time protocol to align the states of a network of agents evolving in the space of rotations SO(3). The starting point of our work is Riemannian consensus, a general and intrinsic extension ...
Distributed Image-Based 3-D Localization of Camera Sensor Networks
(Department of Electrical and Computer Engineering, Johns Hopkins University, 2009)
We consider the problem of distributed estimation of the poses of N cameras in a camera sensor network using image measurements only. The relative rotation and translation (up to a scale factor) between pairs of neighboring ...