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

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2014 American Control Conference, ACC 2014
出版社Institute of Electrical and Electronics Engineers Inc.
ページ110-116
ページ数7
ISBN(印刷版)9781479932726
DOI
出版ステータスPublished - 2014 1 1
外部発表はい
イベント2014 American Control Conference, ACC 2014 - Portland, OR, United States
継続期間: 2014 6 42014 6 6

出版物シリーズ

名前Proceedings of the American Control Conference
ISSN(印刷版)0743-1619

Conference

Conference2014 American Control Conference, ACC 2014
国/地域United States
CityPortland, OR
Period14/6/414/6/6

ASJC Scopus subject areas

  • 電子工学および電気工学

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