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We consider the problem of distributed estimation of the poses of N cameras in a camera sensor network using image measurements only. The relative rotation and translation (up to a scale factor) between pairs of neighboring cameras can be estimated using standard computer vision techniques. However, due to noise in the image measurements, these estimates may not be globally consistent. We address...
We propose a distributed algorithm for calibrating the intrinsic and extrinsic parameters of a Camera Sensor Network (CSN). We assume that only one of the cameras is calibrated and that the network graph, i.e. the graph over which the cameras communicate, is connected. Each camera uses simple algorithms based on epipolar geometry to obtain its calibration matrix as well as its pose relative to a reference...
In this paper, we propose distributed algorithms for estimating the average pose of an object viewed by a localized network of camera motes. To this effect, we propose distributed averaging consensus algorithms on the group of 3D rigid-body transformations, SE(3). We rigorously analyze the convergence of the proposed algorithms, and show that naive generalizations of Euclidean consensus algorithms...
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