A Sensor Self-aware Distributed Consensus Filter for Simultaneous Localization and Tracking
نویسندگان
چکیده
منابع مشابه
Improved Distributed Particle Filter for Simultaneous Localization and Mapping
The Simultaneous localization and mapping (SLAM) problem have become a focus of many researches on robot navigation. Generally the most widely used filter in SLAM problems are centralized filter. It is well known that SLAM based on conventional centralized filter must reconfigure the entire state vectors when the observation dimension changes, which cause an exponential growth in computation qu...
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In this paper, we present a distributed particle filter (DPF) for target tracking in a sensor network. The proposed DPF consists of two major steps. First, particle compression based on support vector machine is performed to reduce the cost of transmission among sensors. Second, each sensor fuses the compressed information from its neighboring nodes with use of consensus or gossip algorithm to ...
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For efficient and accurate estimation of the location of objects, a network of sensors can be used to detect and track targets in a distributed manner. In nonlinear and/or non-Gaussian dynamic models, distributed particle filtering methods are commonly applied to develop target tracking algorithms. An important consideration in developing a distributed particle filtering algorithm in wireless s...
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Make a note of similarity between SLAM and localization, tracking. We demonstrate that it is possible to achieve accurate localization while target tracking in a randomly placed wireless sensor network composed of inexpensive components of limited accuracy. We present an algorithm for creating such a coordinate system without the use of global control, globally accessible beacon signals, or acc...
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In this thesis we present LaSLAT, a sensor network algorithm that uses range measurements between sensors and a moving target to simultaneously localize the sensors, calibrate sensing hardware, and recover the target’s trajectory. LaSLAT is based on a Bayesian filter that updates a probability distribution over the parameters of interest as measurements arrive. The algorithm is distributable an...
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ژورنال
عنوان ژورنال: Cognitive Computation
سال: 2016
ISSN: 1866-9956,1866-9964
DOI: 10.1007/s12559-016-9423-7