Consensus of stochastic maps

Brandon Jones; Mark Campbell; Lang Tong

doi:10.1117/12.920808

24 May 2012 Consensus of stochastic maps

Brandon Jones, Mark Campbell, Lang Tong

Proceedings Volume 8389, Ground/Air Multisensor Interoperability, Integration, and Networking for Persistent ISR III; 83890W (2012) https://doi.org/10.1117/12.920808
Event: SPIE Defense, Security, and Sensing, 2012, Baltimore, Maryland, United States

Abstract

In this paper, we consider the agreement problem of estimating the locations of landmarks observed by multiple agents in the absence of a global frame of reference. Maximum likelihood estimators are derived from scenarios of independent and mutual landmark estimation. A triangle-based hypothesis test is proposed for the detection of common landmarks across the coordinate systems of the agents and is followed by a formulation of triangle matching as a linear assignment problem. A landmark agreement model is also proposed with consideration that the agents may observe both common and uncommon landmarks. Simulation examples are provided illustrating the proposed landmark estimation and triangle matching approaches.

Citation Download Citation

Brandon Jones, Mark Campbell, and Lang Tong "Consensus of stochastic maps", Proc. SPIE 8389, Ground/Air Multisensor Interoperability, Integration, and Networking for Persistent ISR III, 83890W (24 May 2012); https://doi.org/10.1117/12.920808

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available