Distributed localization algorithms

in Research
August 22nd, 2016

Imagine a wireless camera network, where each camera has a piece of local information, e.g., the pose of the object from a specific viewpoint or the relative poses with respect to the neighboring cameras.

Illustration of a camera network

Illustration of a camera network

It is natural to look for distributed algorithms which merge all these local measurements into a single, globally consistent estimate. I derived such algorithms by formulating a global optimization problem over the space of poses, and shown their convergence from a large set of initial conditions using the aforementioned theoretical tools.

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