On Universal Sensor Registration

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.