Cooperative estimation of 3D target object motion via networked visual motion observers
Cooperative estimation of 3D target object motion via networked visual motion observers
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DOI：
10.1109/cdc.2011.6160515
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发表时间：
2011-12
期刊：
影响因子：
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通讯作者：
T. Hatanaka;K. Hirata;M. Fujita
中科院分区：
文献类型：
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作者：
T. Hatanaka;K. Hirata;M. Fujita
研究了基于视觉传感器网络的三维目标运动协同估计问题。在我们之前的一项工作中，我们已经提出了一种称为网络视觉运动观察者的合作估计算法。在本文中，我们首先阐明了网络估计机制所获得的平均精度。然后，我们分析了估计的收敛速度，并澄清了速度与图结构的关系。此外，我们还揭示了估计对目标物体运动的跟踪性能，并推导了算法中跟踪性能与视觉反馈增益之间的联系。最后通过实验验证了该估计算法的有效性。
This paper addresses cooperative estimation of 3D target motion for visual sensor networks. In one of our previous works, we already presented a cooperative estimation algorithm called networked visual motion observers. In this paper, we first clarify averaging accuracy attained by the networked estimation mechanism. Then, we analyze convergence speed of the estimates and clarify a relation of the speed to the graph structures. Moreover, we also reveal a tracking performance of the estimates to target objects motion and derive a connection between the tracking performance and a visual feedback gain in the algorithm. Finally the effectiveness of the present estimation algorithm is demonstrated through experiments.