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Distributed Dual Quaternion Based Localization of Visual Sensor Networks by Varotto, Luca; Fabris, Marco; Michieletto, Giulia; Cenedese, Angelo is a scholarly article available to read on EtoBox.

What is Distributed Dual Quaternion Based Localization of Visual Sensor Networks about?

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.

Author

Varotto, Luca; Fabris, Marco; Michieletto, Giulia; Cenedese, Angelo

Published

2022

Language

EN