To tackle the distributed power optimization problems in wireless sensor networks localization systems, we model the problem as a hierarchical game, i.e. a multi-leader multi-follower Stackelberg game. Existing researches focus on the power allocation of anchor nodes for ranging signals or the power management of agent nodes for cooperative localization, individually. However, the power optimizations for different nodes are indiscerptible due to the common objective of localization accuracy. So it is a new challenging task when the power allocation strategies are considered for anchor and agent nodes simultaneously. To cope with this problem, a hierarchical game is proposed where anchor nodes are modeled as leaders and agent nodes are modeled as followers. Then, we prove that games of leaders and followers are both potential games, which guarantees the Nash equilibrium (NE) of each game. Moreover, the existence of Stackelberg equilibrium (SE) is proved and achieved by the best response dynamics. Simulation results demonstrate that the proposed algorithm can have better localization accuracy compared with the decomposed algorithm and uniform strategy.

In this paper, we propose a robust registration method, named Bounded-Variables Least Median of Squares (BVLMS). It overcomes both the misassociations and the ill-conditioning due to the interactions between Bounded-Variables Least Squares (BVLS) and Least Median of Squares (LMS). Simulation results demonstrate the feasibility of this new registration method.

Positioning information plays a significant role in multi-unmanned aerial vehicles (UAVs) applications. Traditionally, the positioning information is widely provided by Global Navigation Satellite System (GNSS) due to its good performance and global coverage. However, owing to complicated flight environment or signal blockage, jamming and unintentional interference, the UAVs may fail to locate themselves by using GNSS alone. As a new method to resolve these problems, cooperative positioning, by incorporating peer-to-peer range measurements and assisted information, has attracted more and more attentions due to its ability to enhance the accuracy and availability of positioning. However, achieving good performance of cooperative positioning of multi-UAVs is challenging as their mobility, arbitrary nonlinear state-evolution, measurement models and limited computation and communication resources. In this paper, we present a factor graph (FG) representation and message passing methodology to solve cooperative positioning problem among UAVs in 3-dimensional environment where GNSS cannot provide services. Moreover, to deal with the nonlinear state-evolution and measurement models while decreasing the computation complexity and communication cost, we develop a distributed algorithm for dynamic and hybrid UAVs by means of Spherical-Radial Cubature Rules (CR) method with belief propagation (BP) and variational message passing (VMP) methods (CRBP-VMP) on the FG. The proposed CRBP deals with the highly non-linear state-evolution models and non-Gaussian distributions, the VMP method is employed for ranging message, gets the simpler message representation and can reduce communication cost in the joint estimation problem. Simulation results demonstrate that the higher positioning accuracy, the better convergence as well as low computational complexity and communication cost of the proposed CRBP-VMP algorithm, which can be achieved compared with sum-product algorithm over a wireless network (SPAWN) and traditional Cubature Kalman Filters (CKF) method.

With the rapid development of multi-view video coding (MVC) and light field rendering (LFR), Free-View Television (FTV) has emerged as new entrainment equipment, which can bring more immersive and realistic feelings for TV viewers. In FTV broadcasting system, the TV-viewer can freely watch a realistic arbitrary view of a scene generated from a number of original views. In such a scenario, the ownership of the multi-view video should be verified not only on the original views, but also on any virtual view. However, capacities of existing watermarking schemes as copyright protection methods for LFR-based FTV are only one bit, i.e., presence or absence of the watermark, which seriously impacts its usage in practical scenarios. In this paper, we propose a robust multi-bit watermarking scheme for LFR-based free-view video. The direct-sequence code division multiple access (DS-CDMA) watermark is constructed according to the multi-bit message and embedded into DCT domain of each view frame. The message can be extracted bit-by-bit from a virtual frame generated at an arbitrary view-point with a correlation detector. Furthermore, we mathematically prove that the watermark can be detected from any virtual view. Experimental results also show that the watermark in FTV can be successfully detected from a virtual view. Moreover, the proposed watermark method is robust against common signal processing attacks, such as Gaussian filtering, salt & peppers noising, JPEG compression, and center cropping.