分散型で一貫性のあるデータ対応付け
Distributed Consistent Data Association
複数センサ間のペアワイズなデータ対応付けから、全分散型で一貫したグローバル対応付けを実現する2手法を提案し、理論と実験で有効性を示した。
著者: Spyridon Leonardos, Xiaowei Zhou, Kostas Daniilidis
分類: cs.MA, cs.RO, cs.SY, eess.SY
原文アブストラクト
Data association is one of the fundamental problems in multi-sensor systems. Most current techniques rely on pairwise data associations which can be spurious even after the employment of outlier rejection schemes. Considering multiple pairwise associations at once significantly increases accuracy and leads to consistency. In this work, we propose two fully decentralized methods for consistent global data association from pairwise data associations. The first method is a consensus algorithm on the set of doubly stochastic matrices. The second method is a decentralization of the spectral method proposed by Pachauri et al.. We demonstrate the effectiveness of both methods using theoretical analysis and experimental evaluation.
