论文标题
基于双重四氢基础的分布式视觉传感器网络定位
Distributed Dual Quaternion Based Localization of Visual Sensor Networks
论文作者
论文摘要
在本文中，我们考虑了视觉传感器网络的本地化问题。受[1]中讨论的替代态度和位置分布的优化框架的启发，我们提出了一个估算方案，该方案利用单位双重四基因代数来描述传感器的姿势。该表示对优化方案的制定是有益的，该方案允许在不设计两个交错位置和方向估计器的情况下解决本地化问题，从而改善了两个姿势组件的估计误差分布和整体定位性能。此外，数值实验断言了所提出算法W.R.T.的鲁棒性。初始条件。
In this paper we consider the localization problem for a visual sensor network. Inspired by the alternate attitude and position distributed optimization framework discussed in [1], we propose an estimation scheme that exploits the unit dual quaternion algebra to describe the sensors pose. This representation is beneficial in the formulation of the optimization scheme allowing to solve the localization problem without designing two interlaced position and orientation estimators, thus improving the estimation error distribution over the two pose components and the overall localization performance. Furthermore, the numerical experimentation asserts the robustness of the proposed algorithm w.r.t. the initial conditions.
