On Universal Sensor Registration
Daniel Sigalov, Aharon Gal, Boaz Vigdor

TL;DR
This paper introduces a straightforward sensor registration method for target tracking that uses targets of opportunity, enabling simultaneous calibration of multiple sensors without prior assumptions, and achieves unambiguous absolute calibration with three or more sensors.
Contribution
It presents a simple, assumption-free approach for calibrating multiple sensors simultaneously, including absolute registration with three or more sensors.
Findings
Algorithms are easy to implement and parameter-free.
Numerical tests demonstrate effective sensor calibration.
Absolute registration is achievable with three or more sensors.
Abstract
We present a simple approach for sensor registration in target tracking applications. The proposed method uses targets of opportunity and, without making assumptions on their dynamical models, allows simultaneous calibration of multiple three- and two-dimensional sensors. Whereas for two-sensor scenarios only relative registration is possible, in practical cases with three or more sensors unambiguous absolute calibration may be achieved. The derived algorithms are straightforward to implement and do not require tuning of parameters. The performance of the algorithms is tested in a numerical study.
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Taxonomy
TopicsTarget Tracking and Data Fusion in Sensor Networks · Advanced Control Systems Optimization · Robotics and Sensor-Based Localization
