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Title
Japanese: 
English:Cooperative Estimation of Averaged 3D Moving Target Object Poses via Networked Visual Motion Observers 
Author
Japanese: 畑中 健志, 藤田 政之.  
English: T. Hatanaka, M. Fujita.  
Language English 
Journal/Book name
Japanese: 
English:IEEE Transactions on Automatic Control 
Volume, Number, Page Vol. 58    No. 3    pp. 623-638
Published date 2013 
Publisher
Japanese: 
English:IEEE 
Conference name
Japanese: 
English: 
Conference site
Japanese: 
English: 
DOI https://doi.org/10.1109/TAC.2012.2215732
Abstract This paper investigates cooperative estimation of averaged moving target object poses in three dimensions for visual sensor networks. In particular, we consider the situation where multiple vision cameras see a common target object but the poses consistent with visual measurements differ from camera to camera due to a variety of uncertainties. Under the situation, we try to estimate an average of the contaminated poses not only for static but also for moving target objects by using only local negotiations. For this purpose, we present a cooperative estimation mechanism called networked visual motion observer. We then derive an upper bound of the ultimate error between the actual average and the estimates produced by the present estimation mechanism for both static and moving target objects. Finally the effectiveness of the networked visual motion observer is demonstrated through simulation.

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