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Distributed Consensus Algorithms for Image-Based Localization in Camera Sensor Networks

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Book cover Distributed Video Sensor Networks

Abstract

This chapter presents distributed algorithms for solving two classical computer vision problems: object localization, i.e., estimation of the 3-D pose of an object from multiple 2-D views; and camera sensor network localization, i.e., estimation of the 3-D camera poses from multiple 2-D views. These problems are posed as generalized consensus problems in the space of rigid-body motions and solved using extensions of classical consensus algorithms to this space. The convergence properties of the proposed algorithms are studied and compared to naïve generalizations of Euclidean consensus, which fail to converge to the correct solution. Experiments on synthetic data evaluate the proposed methods.

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Acknowledgement

This work was supported by the grant NSF CNS-0834470.

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Authors and Affiliations

  1. Center for Imaging Science, Johns Hopkins University, Baltimore, MD, 21218, USA

    Roberto Tron & Andreas Terzis

  2. Computer Science Department, Johns Hopkins University, Baltimore, MD, 21218, USA

    René Vidal

Authors
  1. Roberto Tron
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  2. Andreas Terzis
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  3. René Vidal
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Corresponding author

Correspondence to Roberto Tron .

Editor information

Editors and Affiliations

  1. Center for Research, Intelligent Systems, University of California, Riverside, Riverside, 92521, California, USA

    Bir Bhanu

  2. Dept. Computer Science & Engineering, University of California, Riverside, Riverside, 92521, California, USA

    Chinya V. Ravishankar

  3. Dept. Electrical Engineering, University of California, Riverside, Riverside, 92521, California, USA

    Amit K. Roy-Chowdhury

  4. Dept. Electrical Engineering, Packard Bldg., Stanford University, Serra Mall 350, Stanford, 94305-9505, California, USA

    Hamid Aghajan

  5. Dept. Computer Science, University of California, Los Angeles, Boelter Hall 4731, Los Angeles, 90095-1596, California, USA

    Demetri Terzopoulos

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© 2011 Springer-Verlag London Limited

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Tron, R., Terzis, A., Vidal, R. (2011). Distributed Consensus Algorithms for Image-Based Localization in Camera Sensor Networks. In: Bhanu, B., Ravishankar, C., Roy-Chowdhury, A., Aghajan, H., Terzopoulos, D. (eds) Distributed Video Sensor Networks. Springer, London. https://doi.org/10.1007/978-0-85729-127-1_20

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  • DOI: https://doi.org/10.1007/978-0-85729-127-1_20

  • Publisher Name: Springer, London

  • Print ISBN: 978-0-85729-126-4

  • Online ISBN: 978-0-85729-127-1

  • eBook Packages: Computer ScienceComputer Science (R0)

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