NDLI: Distributed Data Association in Robotic Networks With Cameras and Limited Communications

Content Provider	IEEE Xplore Digital Library
Author	Montijano, E. Aragues, R. Sagues, C.
Copyright Year	2004
Abstract	We address the data association problem of features that are observed by a robotic network. Every robot in the network has limited communication capabilities and can only exchange local matches with its neighbors. We propose a distributed algorithm that takes these local matches and, by their propagation in the network, computes global correspondences. When the algorithm finishes, each robot knows the correspondences between its features and the features of all the other robots, even if they cannot directly communicate. The presence of spurious local correspondences may produce inconsistent global correspondences, which are association paths between features observed by the same robot. The contributions of this study are the propagation of the local matches and the detection and resolution of these inconsistencies. We formally prove that after executing the algorithm, all the robots finish with a data association that is free of inconsistencies. We provide a fully decentralized solution to the problem that is valid for any fixed communication topology and with bounded communications between the robots. Simulations and experimental results with real images show the performance of the method considering different features, matching functions, and robotic applications.
Sponsorship	IEEE Robotics and Automation Society
Starting Page	1408
Ending Page	1423
Page Count	16
File Size	1188471
File Format	PDF
ISSN	15523098
Volume Number	29
Issue Number	6
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Distributed algorithms Feature extraction Multi-robot systems Multi-agent systems Robot vision systems Simultaneous localization and mapping robot vision systems multi-robot systems
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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