Attitude consensus using networks of uncalibrated cameras

This paper addresses the problem of consensus on SO(3) for networks of uncalibrated cameras. Under the assumption of a pinhole camera model, we prove convergence to the consensus manifold for two types of kinematic control laws, when only conjugate rotation matrices KRK-1 are available among the agents. In these conjugate rotations, the rotation matrices are distorted by the (unknown) intrinsic parameters of the cameras. For the conjugate rotations, we introduce distorted versions of well known local parameterizations of SO(3) and show consensus by using three types of control laws. The control laws are similar to the standard consensus protocol used for systems of agents with single integrator dynamics, where pairwise differences between the states of neighboring agents are used. By considering the restriction to the planar case (when all the rotations have the same rotational axes), we weaken the assumptions on the cameras in the system and consider networks where the camera matrices differ between agents.