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Proceedings Paper

Consensus of stochastic maps
Author(s): Brandon Jones; Mark Campbell; Lang Tong
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Paper 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.

Paper Details

Date Published: 24 May 2012
PDF: 15 pages
Proc. SPIE 8389, Ground/Air Multisensor Interoperability, Integration, and Networking for Persistent ISR III, 83890W (24 May 2012); doi: 10.1117/12.920808
Show Author Affiliations
Brandon Jones, Cornell Univ. (United States)
Mark Campbell, Cornell Univ. (United States)
Lang Tong, Cornell Univ. (United States)


Published in SPIE Proceedings Vol. 8389:
Ground/Air Multisensor Interoperability, Integration, and Networking for Persistent ISR III
Tien Pham, Editor(s)

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