Distributed Cooperative Estimation for Visual Sensor Networks

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The goal of this project is to establish a smart network system estimating target motion via distributed information processing and decision-making for a visual sensor network which is a network consisting of multiple smart cameras with communication and computation capability. We first presented a distributed cooperative visual estimation mechanism, called networked visual motion observer, by combining two different previous works: a passivity-based visual motion observer and passivity-based pose synchronization control. The proposed estimation mechanism executes local estimation via the visual motion observer and aggregates the neighboring cameras estimates based on the synchronization techniques. Then, we clarified an averaging performance of the estimates produced by the proposed mechanism based on the techniques in distributed optimization and pose synchronization. We also conducted theoretical analysis on a relation between target motion and the averaging performance. In addition, we built an actual visual sensor network system and demonstrated validity of the presented theoretical results. Finally, we quantified the effects of malicious sensors and imperfect visibility on the averaging performance and improved the sensor network system so that it works even in the presence of such undesirable events.