Cooperative Estimation For Visual Sensor Networks

This chapter 11 presents an amalgamation of the contents in Parts II and III. Specifically, cooperative motion estimation is addressed for a networked multicamera system. Then, the objective is set to producing estimates close to the average of perturbed object poses through inter-camera local information exchanges. To this end, a cooperative estimation algorithm is presented, where the local motion estimation based on the visual motion observer in Chap. 6 and local interactions based on the pose synchronization law in Chap. 10 are concurrently executed. Then, the averaging performance is analyzed for both static and moving objects.