Distributed Image-Based 3-D Localization of Camera Sensor Networks

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dc.contributor.author Tron, Roberto
dc.contributor.author Vidal, René
dc.date.accessioned 2009-10-07T17:41:32Z
dc.date.available 2009-10-07T17:41:32Z
dc.date.issued 2009
dc.identifier.uri http://jhir.library.jhu.edu/handle/1774.2/33513
dc.description.abstract 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 cameras can be estimated using standard computer vision techniques. However, due to noise in the image measurements, these estimates may not be globally consistent. We address this problem by minimizing a cost function on S E (3)N in a distributed fashion using a generalization of the classical consensus algorithm for averaging Euclidean data. We also derive a condition for convergence, which relates the step-size of the consensus algorithm and the degree of the camera network graph. While our methods are designed with the camera sensor network application in mind, our results are applicable to other localization problems in a more general setting. We also provide synthetic simulations to test the validity of our approach. en
dc.description.provenance Submitted by David Reynolds (davidr@jhu.edu) on 2009-10-07T17:41:06Z No. of bitstreams: 1 cdc09-localization-techreport.pdf: 267178 bytes, checksum: 6d6e3433310d2ce08216e97971d6cfd3 (MD5) en
dc.description.provenance Approved for entry into archive by David Reynolds(davidr@jhu.edu) on 2009-10-07T17:41:32Z (GMT) No. of bitstreams: 1 cdc09-localization-techreport.pdf: 267178 bytes, checksum: 6d6e3433310d2ce08216e97971d6cfd3 (MD5) en
dc.description.provenance Made available in DSpace on 2009-10-07T17:41:32Z (GMT). No. of bitstreams: 1 cdc09-localization-techreport.pdf: 267178 bytes, checksum: 6d6e3433310d2ce08216e97971d6cfd3 (MD5) Previous issue date: 2009 en
dc.description.sponsorship This work was supported by the grant NSF CNS-0834470 en
dc.language.iso en_US en
dc.publisher Department of Electrical and Computer Engineering, Johns Hopkins University en
dc.subject Sensor networks
dc.subject Consensus
dc.subject Localization
dc.subject Camera calibration
dc.title Distributed Image-Based 3-D Localization of Camera Sensor Networks en
dc.type Technical Report en

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