Cooperative Control and Estimation for Visual Sensor Networks
Speaker: Takeshi Hatanaka, Ph.D., Assistant Professor, Department of Mechanical & Control Engineering, Tokyo Institute of Technology, Japan
Abstract:In the first part, we address cooperative estimation of 3D target motion. Here, we present a novel cooperative estimation mechanism by combining two of our previous works using passivity in rigid-body motion: vision-based 3D motion estimation and pose synchronization. In the second part, we investigate attitude control of vision sensors to achieve desirable visual coverage of a target space. For this purpose, we first formulate the visual coverage problem as an optimization problem on a matrix manifold and present a gradient descent control scheme.