On Uniquely Registrable Networks

Abstract

Consider a network with $N$ nodes in $d$ -dimensional Euclidean space, and $M$ subsets of these nodes $P_1,\ldots, P_M$ . Assume that the nodes in a given $P_i$ are observed in a local coordinate system. The registration problem is to compute the coordinates of the $N$ nodes in a global coordinate system, given the information about $P_1,\ldots, P_M$ and the corresponding local coordinates. The network is said to be uniquely registrable if the global coordinates can be computed uniquely (modulo Euclidean transforms). We formulate a necessary and sufficient condition for a network to be uniquely registrable in terms of rigidity of the body graph of the network. A particularly simple characterization of unique registrability is obtained for planar networks. Furthermore, we show that $k$ -vertex-connectivity of the body graph is equivalent to quasi $k$ -connectivity of the bipartite correspondence graph of the network. Along with results from rigidity theory, this helps us resolve a recent conjecture due to Sanyal et al. (R. Sanyal, M. Jaiswal, and K. N. Chaudhury, “On a registration-based approach to sensor network localization,” IEEE Trans. Signal Process. , vol. 65, no. 20, pp. 5357–5367, Oct. 2017.) that quasi three-connectivity of the correspondence graph is both necessary and sufficient for unique registrability in two dimensions. We present counterexamples demonstrating that while quasi $(d+1)$ -connectivity is necessary for unique registrability in any dimension, it fails to be sufficient in three and higher dimensions.