受動性に基づく分散協調型3次元視覚人間位置推定アルゴリズム

抄録

In this paper, we address distributed 3-D visual human localization for a visual sensor network and present a passivity-based solution. We first formulate the intended problem as a distributed optimization problem. A passivity-based distributed optimization algorithm is then applied to the problem, and it is pointed out that it ensures asymptotic optimality but the convergence speed is considerably slow. To accelerate the convergence, we present a novel algorithm based on a loop shaping technique and it is shown to maintain convergence to the optimal solution based on passivity. The present algorithm is finally demonstrated through simulation, wherein not only convergence acceleration but also robustness against disturbances are confirmed.