This paper provides a unifying view and offers new insights on bearing-based network localizability, that is the problem of establishing whether a set of directions between pairs of nodes uniquely determines (up to translation and scale) the position of the nodes in d-space. If nodes represent cameras then we are in the context of global structure from motion. The contribution of the paper is theoretical: first, we rewrite and link in a coherent structure several results that have been presented in different communities using disparate formalisms; second, we derive some new localizability results within the edge-based formulation.

Bearing-based Network Localizability: A Unifying View

Arrigoni, Federica;
2019-01-01

Abstract

This paper provides a unifying view and offers new insights on bearing-based network localizability, that is the problem of establishing whether a set of directions between pairs of nodes uniquely determines (up to translation and scale) the position of the nodes in d-space. If nodes represent cameras then we are in the context of global structure from motion. The contribution of the paper is theoretical: first, we rewrite and link in a coherent structure several results that have been presented in different communities using disparate formalisms; second, we derive some new localizability results within the edge-based formulation.
2019
bearing rigidity
bearing-based localization
direction-based localization
parallel rigidity
structure from motion
Computational modeling
Computational Theory and Mathematics
Artificial Intelligence
Applied Mathematics
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/1220237
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