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Erschienen in:
2015 | OriginalPaper | Buchkapitel
11. Cooperative Estimation for Visual Sensor Networks
verfasst von : Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
Erschienen in: Passivity-Based Control and Estimation in Networked Robotics
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Abstract
This chapter 11 presents an amalgamation of the contents in Parts II and III. Specifically, cooperative motion estimation is addressed for a networked multi-camera system. Then, the objective is set to producing estimates close to the average of perturbed object poses through inter-camera local information exchanges. To this end, a cooperative estimation algorithm is presented, where the local motion estimation based on the visual motion observer in Chap. 6 and local interactions based on the pose synchronization law in Chap. 10 are concurrently executed. Then, the averaging performance is analyzed for both static and moving objects.