3-D visual coverage based on gradient descent algorithm on matrix manifolds and its application to moving objects monitoring

Takeshi Hatanaka, Riku Funada, Masayuki Fujita

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper investigates coverage control for visual sensor networks based on gradient descent techniques on matrix manifolds. We consider the scenario that networked vision sensors with controllable orientations are distributed over 3-D space to monitor 2-D environment. Then, the decision variable must be constrained on the Lie group SO(3). The contribution of this paper is two folds. The first one is technical, namely we formulate the coverage problem as an optimization problem on SO(3) without introducing local parameterization like Euler angles and directly apply the gradient descent algorithm on the manifold. The second technological contribution is to present not only the coverage control scheme but also the density estimation process including image processing and curve fitting while exemplifying its effectiveness through simulation of moving objects monitoring.

Original languageEnglish
Title of host publication2014 American Control Conference, ACC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages110-116
Number of pages7
ISBN (Print)9781479932726
DOIs
Publication statusPublished - 2014 Jan 1
Externally publishedYes
Event2014 American Control Conference, ACC 2014 - Portland, OR, United States
Duration: 2014 Jun 42014 Jun 6

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Conference

Conference2014 American Control Conference, ACC 2014
CountryUnited States
CityPortland, OR
Period14/6/414/6/6

Keywords

  • Autonomous systems
  • Cooperative control
  • Vision-based control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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    Hatanaka, T., Funada, R., & Fujita, M. (2014). 3-D visual coverage based on gradient descent algorithm on matrix manifolds and its application to moving objects monitoring. In 2014 American Control Conference, ACC 2014 (pp. 110-116). [6858663] (Proceedings of the American Control Conference). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2014.6858663