Self-organization of randomly placed sensors

Abstract

This paper investigates one problem arising from ubiquitous sensing: can the position of a set of randomly placed sensors be automatically determined even if they do not have an overlapping field of view. (If the view overlapped, then standard stereo auto-calibration can be used.) This paper shows that the problem is solveable. Distant moving features allow accurate orientation registration. Given the sensor orientations, nearby linearly moving features allow full pose registration, up to a scale factor.