视觉传感器网络中基于RANSAC的顽健定位算法

doi:10.3969/j.issn.1000-436x.2013.08.008

通信学报 ›› 2013, Vol. 34 ›› Issue (8): 62-69.doi: 10.3969/j.issn.1000-436x.2013.08.008

视觉传感器网络中基于RANSAC的顽健定位算法

张波^1,^2,³,罗海勇^1,⁴,刘冀伟³,赵方⁵

¹ 中国科学院计算技术研究所普适计算中心，北京 100190
² 中国电力科学研究院，北京100192
³ 北京科技大学自动化学院，北京 100083
⁴ 中国科学院计算技术研究所移动计算与新型终端北京市重点实验室，北京 100190
⁵ 北京邮电大学软件学院，北京 100876

出版日期:2013-08-25 发布日期:2017-08-31
基金资助:
国家高技术研究发展计划（“863”计划）基金资助项目;“新一代宽带无线移动通信网”国家科技重大专项基金资助项目;电子信息产业发展基金资助项目;天津市滨海新区科技小巨人成长计划基金资助项目

RANSAC based robust localization algorithm for visual sensor network

Bo ZHANG^1,^2,³,Hai-yong LUO^1,⁴,Ji-wei LIU³,Fang ZHAO⁵

¹ Institute of Computing Technology,Chinese Academy of Sciences,Pervasive Computing Research Center，Beijing 100190
² China Electric Power Research Institute,Beijing 100192
³ School of Automation ＆Electrical,University of Science and Technology Beijing,Beijing 100083
⁴ Beijing Key Laboratory of Mobile Computing and Pervasive Device,Institute of Computing Technology Chinese Academy of Sciences,Beijing 100190,China
⁵ School of Software Engineering,Beijing University of Posts and Telecommunications,Beijing 100876

Online:2013-08-25 Published:2017-08-31
Supported by:
The National High Technology Research and Development Program of China（863 Program）;The Major Projects of Ministry of Industry and Information Technology;The Electronic Information Industry Development Fund Project of Information Industry Department;Tianjin Binhai New Area Science Little Giant Enter-prises Growth Plan

摘要/Abstract

摘要：

视觉传感器网络由于节点故障或环境变化将导致节点对目标的观测数据出现错误，而基于最小二乘的多视觉信息融合定位方法将因此造成较大的定位误差。针对此问题提出一种基于集中式RANSAC的顽健定位算法，将错误数据进行筛选剔除，从而提高定位精度，进一步针对集中式 RANSAC 将会导致单个节点的计算复杂度过高而导致网络节点能耗不平衡问题，提出基于分布式 RANSAC 的顽健定位算法，从而将大量的迭代计算平均分布在各个节点中并行处理，在保证定位过程顽健性的同时保证了网络的计算能耗平衡性。最后通过实验对no-RANSAC、cen-RANSAC 和 dis-RANSAC算法的定位性能进行了比较，验证了该算法能够依照预定的概率获得良好的定位结果，并对算法的时间复杂度进行了分析。

关键词: 视觉传感器网络, 目标定位, 顽健定位, RANSAC

Abstract:

Due to node failures or environmental changes,observed data on the target will be error in visual sensor network,so the least squares based multi-vision localization algorithm won’t be accurate.A centralized RANSAC based robust localization method was proposed,which can remove the error data and improve the positioning accuracy.Furthermore,to address this issue,energy imbalance of network nodes in centralized RANSAC where all computing load is executed in one single node,a robust localization algorithm based on distributed RANSAC was also proposed,which can distribute a large number of iterative calculations into each node averagely to ensure the network balance on calculation and energy without affecting the robustness.Finally,through comparing experiments on no-RANSAC,cen-RANSAC and dis-RANSAC,it’s verified that this algorithm can obtain robust and good positioning results in a predetermined probability,and the time complexity was analyzed via experiment.

Key words: visual sensor network, target localization, robust localization, RANSAC

张波,罗海勇,刘冀伟,赵方. 视觉传感器网络中基于RANSAC的顽健定位算法[J]. 通信学报, 2013, 34(8): 62-69.

Bo ZHANG,Hai-yong LUO,Ji-wei LIU,Fang ZHAO. RANSAC based robust localization algorithm for visual sensor network[J]. Journal on Communications, 2013, 34(8): 62-69.

图/表 7

图1

图2

图3

图4

表1

3种方法复杂度对比"

迭代次数	Tra	Cen-RANSAC	Dis-RANSAC
K	45	6	6
$k_{i}^{\max}$	NaN	6	1
$K_{i}^{\max}$	NaN	6	2

表1

图5

图6

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视觉传感器网络中基于RANSAC的顽健定位算法

RANSAC based robust localization algorithm for visual sensor network

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