Distributed pose averaging in camera networks via consensus on SE(3)

In this paper, we propose distributed algorithms for estimating the average pose of an object viewed by a localized network of camera motes. To this effect, we propose distributed averaging consensus algorithms on the group of 3D rigid-body transformations, SE(3). We rigorously analyze the convergence of the proposed algorithms, and show that naive generalizations of Euclidean consensus algorithms fail to converge to the correct solution. We also provide synthetic experiments that confirm our analysis and validate our approach.